JP7130683B2 - Surgical Instruments Containing Offset Articulation Joints - Google Patents

Description

The present invention relates to surgical instruments and to surgical stapling and severing instruments and staple cartridges for use therewith designed for stapling and severing tissue in a variety of situations.

Various features of the embodiments described herein, together with their advantages, can be understood by the following description in conjunction with the accompanying drawings below.
1 is a side view of a surgical system including a handle assembly and multiple interchangeable surgical tool assemblies that can be used with the handle assembly; FIG. 2 is an exploded view of one of the handle assembly and replaceable surgical tool assembly shown in FIG. 1; FIG. 2 is a perspective view of one of the replaceable surgical tool assemblies of FIG. 1; FIG. 4 is an exploded view of the replaceable surgical tool assembly of FIG. 3; FIG. 5 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 3 and 4; FIG. 6 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 3-5; FIG. 7 is an exploded view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-6; FIG. 8 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 3-7; FIG. 9 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 3-8; FIG. 10 is a perspective view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-9; FIG. 11 is another perspective view of the proximal portion of the interchangeable surgical tool assembly of FIGS. 3-10; FIG. 12 is a cross-sectional perspective view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-11; FIG. 13 is another cross-sectional perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-12; FIG. 14 is another cross-sectional perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-13; FIG. 15 is a cross-sectional perspective view of a distal portion of the replaceable surgical tool assembly of FIGS. 3-14; FIG. FIG. 120 is a partial plan view of an end effector of a surgical instrument in accordance with at least one embodiment; 17 is a partial plan view of the end effector of FIG. 16 showing the end effector articulated in a first direction; FIG. 17 is a partial plan view of the end effector of FIG. 16 showing the end effector articulated in a second direction; FIG. FIG. 120 is a partial plan view of an end effector of a surgical instrument in accordance with at least one embodiment; 18 is a partial plan view of the end effector of FIG. 17 showing the end effector articulated in a first direction; FIG. 18 is a partial plan view of the end effector of FIG. 17 showing the end effector articulated in a second direction; FIG. 17 is a partial plan view of the end effector of FIG. 16; FIG. 18 is a partial plan view of the end effector of FIG. 17; FIG. 17 is a partial plan view of the end effector of FIG. 16 in an articulated position; FIG. 18 is a partial plan view of the end effector of FIG. 17 in an articulated position; FIG. 17 is a schematic diagram showing the range of articulation of the end effector of FIG. 16; FIG. FIG. 18 is a schematic diagram showing the range of articulation of the end effector of FIG. 17; 18 is a partial perspective view of the end effector of FIG. 17 shown with some components removed; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown with some components removed; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an open, non-articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an open, full right articulation configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an open, full left articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a closed, non-articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a closed, full right articulation configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a closed, full left articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a non-articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a non-articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 illustrated in a full right articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a full left articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a non-articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 illustrated in a full left articulated configuration; FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a full left articulated configuration; FIG. FIG. 120 is a partial perspective view of an end effector in accordance with at least one embodiment; 33 is a partial plan view of the end effector of FIG. 32; FIG. 33 is a cross-sectional view of the end effector of FIG. 32 shown in a non-articulated configuration; FIG. 33 is a cross-sectional view of the end effector of FIG. 32 shown in an articulated configuration; FIG. 33 is a cross-sectional view of the end effector of FIG. 32 shown in an articulated configuration; FIG. FIG. 120 is a partial perspective view of an end effector in accordance with at least one embodiment; 36 is a partial perspective view of the end effector of FIG. 35 shown with some components removed; FIG. 36 is a partial plan view of the end effector of FIG. 35 shown with some components removed; FIG. 36 is a partial elevational view of the end effector of FIG. 35 shown with some components removed; FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in a non-articulated configuration; FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in a non-articulated configuration; FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in a non-articulated configuration; FIG. FIG. 100 is a partial cross-sectional view of an end effector with an articulation system including an articulation lock, according to at least one embodiment; 41 is a partially exploded view of the end effector of FIG. 40; FIG. 41 is a cross-sectional view of the end effector of FIG. 40; FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the articulation lock in an engaged state; FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the joint lock in an unlocked state; FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the joint lock in a locked state; FIG. FIG. 130 is a partial cross-sectional view of an end effector including a slidable locking plate in accordance with at least one embodiment; FIG. 120 is a partial cross-sectional view of another end effector including a slidable locking plate in accordance with at least one embodiment; 48 is a partial cross-sectional view of the end effector of FIG. 47 showing the self-adjusting nature of the locking plate; FIG. 48 is a partial cross-sectional view of the end effector of FIG. 47 in a locked state; FIG. FIG. 100 is a partial cross-sectional view of an end effector including another slidable locking plate in accordance with at least one embodiment; 51 is a partial cross-sectional view of the end effector of FIG. 50 shown in a locked state; FIG. 51 is a partial cross-sectional view of the end effector of FIG. 50 shown in another locked state; FIG. FIG. 100 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, shown with some components removed; 54 is a partial cross-sectional view of the end effector of FIG. 53 articulated in a first direction; FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 articulated in a second direction; FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in an unlocked state; FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in a partially locked state; FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in a locked state; FIG. 54 is a chart showing the gradual locking of the end effector of FIG. 53; FIG. 100 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, shown with some components removed; 59 is a partial cross-sectional view of the end effector of FIG. 58 shown in a partially locked condition; FIG. 59 is a partial cross-sectional view of the end effector of FIG. 58 in a locked state; FIG. FIG. 100 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, shown with some components removed; 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the articulation lock being moved toward the articulation system; FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the articulation lock engaged with the articulation system; FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the joint lock in a locked state; FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the joint lock in a locked state; FIG. FIG. 100 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, shown with some components removed; 67 is a partial cross-sectional view of the end effector of FIG. 66 showing the articulation lock engaged with the articulation system; FIG. 67 is a partial cross-sectional view of the end effector of FIG. 66 showing the joint lock in a locked state; FIG. FIG. 100 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, shown with some components removed; FIG. 70 is a partial cross-sectional view of the end effector of FIG. 69 showing the articulation lock being moved toward the articulation system; FIG. 70 is a partial cross-sectional view of the end effector of FIG. 69 showing the joint lock in a locked state; FIG. 186 is a partial perspective view of an end effector articulation drive system in accordance with at least one embodiment; 73 is a plan view of the end effector articulation drive system of FIG. 72; FIG. 73 is an elevational view of the end effector articulation drive system of FIG. 72; FIG. FIG. 186 is a partial perspective view of an end effector articulation drive system in accordance with at least one embodiment; 76 is a plan view of the end effector articulation drive system of FIG. 75; FIG. 76 is an elevational view of the end effector articulation drive system of FIG. 75; FIG. 76 is a detailed view of the end effector articulation drive system of FIG. 75; FIG. 76 is another detailed view of the end effector articulation drive system of FIG. 75; FIG. 1 is a perspective view of a surgical instrument according to at least one embodiment comprising a shaft and an end effector; FIG. 81 is a perspective view of the surgical instrument of FIG. 80 showing the end effector articulated with respect to the shaft; FIG. 81 is a perspective view of the end effector of FIG. 80 in an open configuration; FIG. FIG. 100 is a partial elevational view of a firing member in accordance with at least one embodiment; 84 is a partial cross-sectional plan view of the firing member of FIG. 83; FIG. FIG. 222 is a partial cross-sectional view of a distal end of a staple cartridge with a shortened nose in accordance with at least one embodiment; FIG. 222 is a partial cross-sectional view of a distal end of a staple cartridge with an elongated nose in accordance with at least one embodiment; FIG. 86 is a top view of various internal components of the staple cartridge of FIG. 85 showing a triple staple driver spanning three longitudinal rows of staple cavities positioned over a portion of the wedge thread; 88 is a cross-sectional view of the triple staple driver of FIG. 87 showing the centerline of the triple staple driver relative to the thread; FIG. FIG. 88 is a partial plan view of the staple cartridge of FIG. 85 showing one side of the staple cartridge deck in cross section and showing the position of the sled of FIG. 88 within the recess defined in the shortened nose of the cartridge after completion of the firing stroke; . 90 is a partial cross-sectional view of the staple cartridge of FIG. 85 taken along line 90-90 of FIG. 89 showing the position of the sled after completion of the firing stroke; FIG. 87 compares the usability of the end effector with the staple cartridges of FIGS. 85 and 86 during surgery in the pelvic cavity; FIG. 86 is a partial perspective view of an end effector with the staple cartridge of FIG. 85 and shortened opposing anvils with protective tips in accordance with at least one embodiment; FIG. 93 is a side view of the end effector of FIG. 92; FIG. 93 is a partial plan view of one embodiment of the anvil shown in FIG. 92 including a protective tip in an assembled configuration; FIG. FIG. 95 is a partial cross-sectional view of the anvil shown in FIG. 94 taken along line 95-95 of FIG. 94 and shown in a partially exploded configuration, illustrative for removably attaching the protective tip to the anvil; Indicates a suitable means of attachment. 96 is a partial cross-sectional view of the anvil shown in FIG. 95 taken along line 96-96 of FIG. 95, shown in a partially exploded configuration, showing the anvil for connecting to the corresponding shape of the protective tip. Fig. 4 shows the shape of the mounting feature; 93 is a partial cross-sectional view of an additional embodiment of the anvil shown in FIG. 92 in a partially exploded configuration showing the protective tip positioned within the temporary holder; FIG. 98 is a partial cross-sectional view of the anvil shown in FIG. 97 taken along line 98-98 of FIG. 97 in a partially exploded configuration, showing the shape of the tip attachment feature of the anvil; FIG. 99 is a cross-sectional view of the anvil shown in FIG. 97 taken along line 99-99 of FIG. 97 in the assembled configuration with the temporary holder still attached; FIG. FIG. 4 is a cross-sectional view of the trocar seal system before the end effector is inserted; 100 is a cross-sectional view of the trocar seal system of FIG. 100 showing the end effector shown in FIG. 100 inserted; FIG. 101 is a cross-sectional view of the trocar seal system of FIG. 100 showing insertion of the end effector shown in FIG. 100; FIG. FIG. 101 is a cross-sectional view of the trocar seal system of FIG. 100 showing the end effector including the shortened staple cartridge of FIG. 85 and the shortened anvil with inserted protective tip; FIG. 101 is a cross-sectional view of the trocar seal system of FIG. 100 prior to the end effector including the extended cartridge of FIG. 86 and the shortened anvil with sharpened tip inserted; 104 is a cross-sectional view of the trocar seal system of FIG. 100 showing the end effector shown in FIG. 104 inserted; FIG. 104 is a cross-sectional view of the trocar seal system of FIG. 100 showing the end effector shown in FIG. 104 inserted; FIG.

Corresponding reference characters indicate corresponding parts throughout the drawings. The exemplifications set forth herein are illustrative of various embodiments of the invention in one form and such exemplifications should not be construed as limiting the scope of the invention in any way. do not have.

The applicant of this application owns the following US patent applications filed on even date herewith, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8210USNP/170099,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8204USNP/170100,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS", Attorney Docket No. END8218USNP/170101,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", Attorney Docket No. END8217USNP/070102,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM," Attorney Docket No. END8211USNP/170103,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT", Attorney Docket No. END8215USNP/170107,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS", Attorney Docket No. END8201USNP/170104,
- U.S. Patent Application No. ______, entitled "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES", Attorney Docket No. END8206USNP/170105,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE", Attorney Docket No. END8212USNP/170106,
- U.S. Patent Application No. __________, entitled "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT", Attorney Docket No. END8200USNP/170089M,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS", Attorney Docket No. END8214USNP/17009
－米国特許出願第＿＿＿＿＿＿＿号、発明の名称「ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＯＰＥＮ ＡＮＤ ＣＬＯＳＡＢＬＥ ＪＡＷＳ ＡＮＤ ＡＸＩＡＬＬＹ ＭＯＶＡＢＬＥ ＦＩＲＩＮＧ ＭＥＭＢＥＲ ＴＨＡＴ ＩＳ ＩＮＩＴＩＡＬＬＹ ＰＡＲＫＥＤ ＩＮ ＣＬＯＳＥ ＰＲＯＸＩＭＩＴＹ ＴＯ ＴＨＥ ＪＡＷＳ ＰＲＩＯＲ ＴＯ ＦＩＲＩＮＧ」、代理人整理番号ＥＮＤ８２０２ＵＳＮＰ／１７００９１、
－米国特許出願第＿＿＿＿＿＿＿号、発明の名称「ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＪＡＷＳ ＣＯＮＳＴＲＡＩＮＥＤ ＴＯ ＰＩＶＯＴ ＡＢＯＵＴ ＡＮ ＡＸＩＳ ＵＰＯＮ ＣＯＮＴＡＣＴ ＷＩＴＨ Ａ ＣＬＯＳＵＲＥ ＭＥＭＢＥＲ ＴＨＡＴ ＩＳ ＰＡＲＫＥＤ ＩＮ ＣＬＯＳＥ ＰＲＯＸＩＭＩＴＹ ＴＯ ＴＨＥ ＰＩＶＯＴ ＡＸＩＳ」、代理人整理番号ＥＮＤ８２１３ＵＳＮＰ／１７００９２、
- U.S. Patent Application No. __________, entitled "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS", Attorney Docket No. END8203USNP/170093,
- U.S. Patent Application No. __________, entitled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT", Attorney Docket No. __________, Attorney Docket No. 105USNPND92/105USNPND92
－米国特許出願第＿＿＿＿＿＿＿号、発明の名称「ＪＡＷ ＲＥＴＡＩＮＥＲ ＡＲＲＡＮＧＥＭＥＮＴ ＦＯＲ ＲＥＴＡＩＮＩＮＧ Ａ ＰＩＶＯＴＡＢＬＥ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴ ＪＡＷ ＩＮ ＰＩＶＯＴＡＢＬＥ ＲＥＴＡＩＮＩＮＧ ＥＮＧＡＧＥＭＥＮＴ ＷＩＴＨ Ａ ＳＥＣＯＮＤ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴ ＪＡＷ」、代理人整理番号ＥＮＤ８２１６ＵＳＮＰ／１７００９５、
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES", Attorney Docket No. END8208USNP/170096,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENT WITH AXIALLY Movable Closure Member", Attorney Docket No. END8209USNP/170097,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT", Attorney Docket No. END8233USNP/170084,
- U.S. DESIGN PATENT APPLICATION No. ______, entitled "STAPLE FORMING ANVIL", Attorney Docket No. END8236USDP/170109D,
- U.S. Design Patent Application No. ______, entitled "SURGICAL INSTRUMENT SHAFT," Attorney Docket No. END8239USDP/170108D; /170110D.

The applicant of this application owns the following US patent applications filed June 27, 2017, each of which is hereby incorporated by reference herein in its entirety: i.e.
- US Patent Application No. __________, entitled "SURGICAL ANVIL MANUFACTURING METHODS", Attorney Docket No. END8165USNP/170079M,
- US Patent Application No. __________, entitled "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8168USNP/170080,
- US Patent Application No. __________, entitled "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8170USNP/170081,
- US Patent Application No. __________, entitled "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8164USNP/170082,
- US Patent Application No. __________, entitled "SURGICAL FIRRING MEMBER ARRANGEMENTS", Attorney Docket No. END8169USNP/170083,
- U.S. Patent Application No. __________, entitled "STAPLE FORMING POCKET ARRANGEMENTS", Attorney Docket No. END8167USNP/170085,
- U.S. Patent Application No. __________, entitled "STAPLE FORMING POCKET ARRANGEMENTS", Attorney Docket No. END8232USNP/170086,
- U.S. Patent Application No. __________, entitled "SURGICAL END EFFECTORS AND ANVILS", Attorney Docket No. END8166USNP/170087, and - U.S. Patent Application No. ________, entitled "ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS", Attorney Docket No. END8171 USNP/170088.

The applicant of this application owns the following U.S. patent applications filed December 21, 2016, each of which is hereby incorporated by reference in its entirety:
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- US patent application Ser. No. 15/386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS",
- US patent application Ser. No. 15/386,209, entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF",
- US patent application Ser. No. 15/386,198 entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES"
- US patent application Ser. No. 15/386,240, entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRRING MEMBERS THEREFOR".
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－米国特許出願第１５／３８５，９４１号、発明の名称「ＳＵＲＧＩＣＡＬ ＴＯＯＬ ＡＳＳＥＭＢＬＩＥＳ ＷＩＴＨ ＣＬＵＴＣＨＩＮＧ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＳＨＩＦＴＩＮＧ ＢＥＴＷＥＥＮ ＣＬＯＳＵＲＥ ＳＹＳＴＥＭＳ ＷＩＴＨ ＣＬＯＳＵＲＥ ＳＴＲＯＫＥ ＲＥＤＵＣＴＩＯＮ ＦＥＡＴＵＲＥＳ ＡＮＤ ＡＲＴＩＣＵＬＡＴＩＯＮ ＡＮＤ ＦＩＲＩＮＧ ＳＹＳＴＥＭＳ」、
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- US patent application Ser. No. 15/385,916, entitled "SURGICAL STAPLING SYSTEMS"
- US patent application Ser. No. 15/385,918, entitled "SURGICAL STAPLING SYSTEMS"
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- U.S. patent application Ser.
- US patent application Ser. No. 15/385,923, entitled "SURGICAL STAPLING SYSTEMS"
－米国特許出願第１５／３８５，９２５号、発明の名称「ＪＡＷ ＡＣＴＵＡＴＥＤ ＬＯＣＫ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＰＲＥＶＥＮＴＩＮＧ ＡＤＶＡＮＣＥＭＥＮＴ ＯＦ Ａ ＦＩＲＩＮＧ ＭＥＭＢＥＲ ＩＮ Ａ ＳＵＲＧＩＣＡＬ ＥＮＤ ＥＦＦＥＣＴＯＲ ＵＮＬＥＳＳ ＡＮ ＵＮＦＩＲＥＤ ＣＡＲＴＲＩＤＧＥ ＩＳ ＩＮＳＴＡＬＬＥＤ ＩＮ ＴＨＥ ＥＮＤ ＥＦＦＥＣＴＯＲ」、
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. The name "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES".

The applicant of the present application owns the following US patent applications filed June 24, 2016, each of which is hereby incorporated by reference in its entirety:
- US patent application Ser. No. 15/191,775, entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES"
- US patent application Ser. No. 15/191,807, entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES,"
- U.S. patent application Ser.
- US patent application Ser. No. 15/191,788, entitled "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES," and - US patent application Ser.

The applicant of the present application owns the following US patent applications filed June 24, 2016, each of which is hereby incorporated by reference in its entirety:
- US Design Patent Application No. 29/569,218, entitled "SURGICAL FASTENER";
- US Design Patent Application No. 29/569,227, entitled "SURGICAL FASTENER";
- US Design Patent Application No. 29/569,259, entitled "SURGICAL FASTENER CARTRIDGE," and - US Design Patent Application No. 29/569,264, entitled "SURGICAL FASTENER CARTRIDGE."

The applicant of the present application owns the following patent applications filed on April 1, 2016, the entire contents of each of which are incorporated herein by reference:
- US Patent Application No. 15/089,325, entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM",
- US patent application Ser.
- U.S. patent application Ser.
- US patent application Ser. No. 15/089,263, entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION",
- US patent application Ser.
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- US patent application Ser.
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- US patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser.
- US Patent Application No. 15/089,203, entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT",
- U.S. patent application Ser.
- US Patent Application No. 15/089,324, entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM",
- U.S. patent application Ser.
- US patent application Ser. No. 15/089,339, entitled "SURGICAL STAPLING INSTRUMENT",
- U.S. patent application Ser.
- U.S. patent application Ser.
- US Patent Application No. 15/089,331, entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS",
- US Patent Application No. 15/089,336, entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES",
- U.S. patent application Ser.
- US patent application Ser. No. 15/089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM," and - US patent application Ser.

The applicant of the present application also owns the following identified US patent applications filed December 31, 2015, each of which is hereby incorporated by reference in its entirety.
- U.S. patent application Ser.
- U.S. patent application Ser. AND MOTOR CONTROL CIRCUITS'.

The applicant of this application also owns the following identified US patent applications filed February 9, 2016, each of which is hereby incorporated by reference in its entirety.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";
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- US patent application Ser.
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- US Patent Application No. 15/019,235, entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS",
- US patent application Ser. No. 15/019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; REDUCTION ARRANGEMENTS".

The applicant of the present application also owns the following identified US patent applications filed February 12, 2016, each of which is hereby incorporated by reference in its entirety.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. FAILURE IN POWERED SURGICAL INSTRUMENTS".

The applicant of the present application owns the following patent applications filed Jun. 18, 2015, each of which is hereby incorporated by reference in its entirety.
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- U.S. patent application Ser.
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- U.S. patent application Ser. No., entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2016/0367245;

The applicant of the present application owns the following patent applications filed March 6, 2015, the entire contents of each of which are incorporated herein by reference:
- US patent application Ser. No. 14/640,746, entitled "POWERED SURGICAL INSTRUMENT", now US patent application publication no.
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- US Patent Application No. 14/640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT", now US Patent Application Publication No. 2016/0256162, and - US Patent Application No. 14/640, 780, entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING," now U.S. Patent Application Publication No. 2016/0256161.

The applicant of this application owns the following patent applications filed on February 27, 2015, the entire contents of each of which are incorporated herein by reference:
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The applicant of the present application owns the following patent applications filed December 18, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
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- US Patent Application No. 14/574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM", now US Patent Application Publication No. 2016/0174970; , entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM", now U.S. Patent Application Publication No. 2016/0174971.

The applicant of the present application owns the following patent applications filed March 1, 2013, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
- U.S. patent application Ser.
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- US patent application Ser. No. 13/782,536, entitled "SURGICAL INSTRUMENT SOFT STOP", now US Pat.

The applicant of the present application also owns the following patent applications filed March 14, 2013, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
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- U.S. patent application Ser.
- US Patent Application No. 13/803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent No. 9,629,623, and - US Patent Application No. 13/803,117. , entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. Patent No. 9,351,726;
- US Patent Application No. 13/803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent No. 9,351,727, and - US Patent Application No. 13/803,159. , entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0277017.

The applicant of this application also owns the following patent applications filed on March 7, 2014, the entire contents of which are incorporated herein by reference:
- U.S. patent application Ser.

The applicant of this application also owns the following patent applications filed on Mar. 26, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
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- U.S. patent application Ser.
- US patent application Ser. "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now U.S. Patent Application Publication No. 2015/0280384.

The applicant of this application also owns the following patent applications filed on September 5, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
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- U.S. patent application Ser.
- US Patent Application No. 14/479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", now US Patent Application Publication No. 2016/0066916, and - US Patent Application No. 14/479,108, Title of Invention "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION", now US Patent Application Publication No. 2016/0066913.

The applicant of this application also owns the following patent applications filed on April 9, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
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－米国特許出願第１４／２４８，５８４号、発明の名称「ＭＯＤＵＬＡＲ ＭＯＴＯＲ ＤＲＩＶＥＮ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＡＬＩＧＮＭＥＮＴ ＦＥＡＴＵＲＥＳ ＦＯＲ ＡＬＩＧＮＩＮＧ ＲＯＴＡＲＹ ＤＲＩＶＥ ＳＨＡＦＴＳ ＷＩＴＨ ＳＵＲＧＩＣＡＬ ＥＮＤ ＥＦＦＥＣＴＯＲ ＳＨＡＦＴＳ」、現在は米国特許出願公開第２０１４／０３０５９９４号、
- U.S. patent application Ser.
- US Patent Application No. 14/248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0305990, and - US Patent Application No. 14/248,607. , entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", now U.S. Patent Application Publication No. 2014/0305992.

The applicant of this application also owns the following patent applications filed on April 16, 2013, the entire contents of each of which are incorporated herein by reference:
- US Provisional Patent Application No. 61/812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";
- US Provisional Patent Application No. 61/812,376, entitled "LINEAR CUTTER WITH POWER";
- US Provisional Patent Application No. 61/812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP",
- U.S. Provisional Patent Application No. 61/812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL," and - U.S. Provisional Patent Application No. 61/812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".

Numerous specific details are set forth in the specification to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components and elements have not been described in detail so as not to obscure the embodiments described herein. The reader will appreciate that the embodiments described and illustrated herein are non-limiting examples, and thus specific structural and functional details disclosed herein may be representative and exemplary. you will understand. Variations and changes can be made thereto without departing from the scope of the claims.

The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "comprise ( "include" (any form of include, such as "includes" and "including") and "contain" (any form of contain, such as "contains" and "containing") refer to open-ended linkages. is a verb. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes,” or “contains” one or more elements may refer to those one or more elements. have, but are not limited to having only one or more of them. Similarly, a system, device, or element of apparatus that “comprises,” “has,” “includes,” or “contains” one or more features may refer to those one or more features. have, but are not limited to having only one or more of those features.

The terms "proximal" and "distal" are used herein with reference to the clinician manipulating the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located farther from the clinician. It will be further appreciated that for convenience and clarity, spatial terms such as "vertical," "horizontal," "above," and "below" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgery. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including, for example, those associated with open surgery. By reading through the Detailed Description of the Invention herein, the reader will understand that the various instruments disclosed herein can be used to circulate an incision made in tissue, for example, through a pre-existing opening. It will further be appreciated that it may be inserted into the body in any manner, such as through a puncture or through a puncture. The working or end effector portion of these instruments can be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument can be advanced. can also

A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector has a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, but the staple cartridge is not removable from, or at least readily replaceable from, the first jaw. Other embodiments are envisioned that are not. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. Other embodiments wherein the second jaw is pivotable with respect to the first jaw about the closing axis, while the first jaw is pivotable with respect to the second jaw. is assumed. The surgical stapling system further comprises an articulation joint configured to allow the end effector to rotate or articulate with respect to the shaft. The end effector is rotatable about an articulation axis that extends through the articulation joint. Other embodiments are also envisioned that do not include an articulation joint.

The staple cartridge has a cartridge body. The cartridge body includes a proximal end, a distal end and a deck portion extending between the proximal and distal ends. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp tissue against the deck. Staples removably stored within the cartridge body can then be deployed into tissue. The cartridge body includes a staple cavity defined therein, and staples are removably stored within the staple cavity. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may also be possible.

The staples are supported by a staple driver within the cartridge body. The drive is movable between a first or unfired position and a second or fired position that ejects staples from the staple cavities. The drive portion is retained within the cartridge body by a retainer extending around the bottom of the cartridge body and includes a resilient member configured to grip the cartridge body and hold the retainer to the cartridge body. include. The drives are movable between their unfired position and their fired position by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled slides under and includes a plurality of ramps configured to lift the drive, with the staples supported thereon, toward the anvil.

In addition to the above, the sled is moved distally by the firing member. A firing member is configured to contact the sled and push the sled toward the distal end. A longitudinal slot defined within the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam that engages the first jaw and a second cam that engages the second jaw. In advancing the firing member distally, the first cam and the second cam can control the distance between the deck portion of the staple cartridge and the anvil, ie, the tissue gap. The firing member also includes a knife configured to cut tissue captured intermediate the staple cartridge and the anvil. Desirably, the knife is positioned at least partially proximal to the ramp so that the staples are ejected forward of the knife.

FIG. 1 shows a motorized surgical system 10 that can be used to perform a variety of different surgical procedures. As can be seen in FIG. 1, one example of surgical system 10 includes four interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000 each adapted for interchangeable use with handle assembly 500. I'm in. Each replaceable surgical tool assembly 1000, 3000, 5000 and 7000 may be designed for use in conjunction with performing one or more specific surgical procedures. In another surgical system embodiment, one or more of the interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000 are effectively used with an instrument drive assembly of a robotic or automated surgical system. You can also For example, the surgical tool assemblies disclosed herein can be used in a variety of robotic systems, instruments, components and methods, including, but not limited to, US Pat. No. 9,072, the entire contents of which are incorporated herein by reference. 535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STABLE DEPLOYMENT ARRANGEMENTS".

FIG. 2 shows attachment of replaceable surgical tool assembly 1000 to handle assembly 500 . It will be appreciated that any of the other interchangeable tool assemblies 3000, 5000, and 7000 can be coupled to handle assembly 500 in a similar manner. The attachment mechanism and process shown in FIG. 2 may also be used in connection with attaching any of the replaceable surgical tool assemblies 1000, 3000, 5000 and 7000 to an instrument drive portion or instrument drive housing of a robotic system. can. Handle assembly 500 may comprise a handle housing 502 including a pistol grip portion 504 that may be grasped and manipulated by a clinician. As discussed briefly below, the handle assembly 500 generates various control motions and corresponding portions of the replaceable surgical tool assemblies 1000, 3000, 5000 and/or 7000 operably attached to the handle assembly. operatively supporting a plurality of drive systems 510, 530 configured to apply to the

As seen in FIG. 2, the handle assembly 500 can further include a handle frame 506 that operably supports multiple drive systems. For example, the handle frame 506 can operably support a "first" or closure drive system, generally indicated as 510, which is operably attached to the handle assembly 500. An opening and closing motion can be applied to the connected or coupled interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000. In at least one form, a closure drive system 510 pivotally supported by handle frame 506 may include an actuator in the form of closure trigger 512 . Such a configuration allows the closure trigger 512 to be manipulated by the clinician such that when the clinician grasps the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 is in the starting or "unactuated" position. can be easily pivoted from to an "actuated" position, more specifically to a fully compressed or fully actuated position. In various forms, the closure drive system 510 further includes a closure link assembly 514 that pivotally couples to or otherwise operably interfaces with the closure trigger 512 . As discussed in more detail below, in the example shown, closure link assembly 514 includes lateral mounting pins 516 that facilitate attachment to a corresponding drive system on a surgical tool assembly. In use, the clinician depresses the closure trigger 512 toward the pistol grip portion 504 to activate the closure drive system 510 . More fully described in U.S. Patent Application Serial No. 14/226,142 entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM," now incorporated herein by reference in its entirety, now U.S. Patent Application Publication No. 2015/0272575. As such, the closure drive system 510 locks the closure trigger 512 in a fully depressed or fully actuated position when the clinician fully depresses the closure trigger 512 to achieve a full closure stroke. configured as When the clinician desires to unlock the closure trigger 512 and bias the closure trigger 512 to the non-actuated position, the clinician actuates the closure release button assembly 518, thereby releasing the closure trigger to its non-actuated position. It is possible to return to the working position. The closure open button assembly 518 may also be configured to interact with various sensors in communication with the microprocessor 560 within the handle assembly 500 to track the position of the closure trigger 512 . Further details regarding the construction and operation of the close open button assembly 518 can be found in US Patent Application Publication No. 2015/0272575.

In at least one form, handle assembly 500 and handle frame 506 are described herein as firing drive system 530 configured to apply a firing motion to corresponding portions of an attached replaceable surgical tool assembly. It can operatively support another drive system called Firing drive system 530 may employ electric motor 505 located within pistol grip portion 504 of handle assembly 500, as described in detail in US Patent Application Publication No. 2015/0272575. In various forms, motor 505 may be a brushed DC drive motor with a maximum speed of, for example, about 25,000 RPM. Alternatively, motor 505 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. Motor 505 may be powered by power supply 522, which in one form may comprise a removable power pack. The power pack may support multiple lithium-ion (“LI”) or other suitable batteries therein. Multiple batteries that can be connected in series can be used as the power source 522 for the surgical system 10 . Additionally, power source 522 may be replaceable and/or rechargeable.

Electric motor 505 is configured to axially drive a longitudinally movable drive member in distal and proximal directions depending on the polarity of the voltage applied to the motor. For example, when the motor drives in one rotational direction, the longitudinally movable drive member may drive axially in the distal direction "DD". When the motor 505 drives in the opposite rotational direction, the longitudinally movable drive member will drive axially in the proximal direction "PD". Handle assembly 500 may include switch 513 , which may be configured to reverse the polarity applied to electric motor 505 by power source 522 or otherwise control motor 505 . Handle assembly 500 may also include one or more sensors configured to detect the position of the drive member and/or the direction in which the drive member moves. Actuation of motor 505 may be controlled by a firing trigger 532 (FIG. 1) pivotally supported on handle assembly 500 . Firing trigger 532 may pivot between an unactuated position and an actuated position. Firing trigger 532 may be biased to a non-actuated position by a spring or other biasing arrangement when the clinician releases firing trigger 532 and may be biased to the non-actuated position by a spring or other biasing arrangement. It may pivot or return in some other manner. In at least one form, firing trigger 532 may be positioned “outside” closing trigger 512, as described above. As described in US Patent Application Publication No. 2015/0272575, handle assembly 500 may be provided with a firing trigger safety button to prevent inadvertent actuation of firing trigger 532 . When the closure trigger 512 is in the non-actuated position, the safety button is in the handle assembly 500 and is not readily accessible to the clinician and is in a safety position that prevents actuation of the firing trigger 532; It cannot be moved to or from a firing position where firing trigger 532 can fire. When the clinician depresses the closure trigger 512, the safety button and firing trigger 532 pivot downward and then become available for operation by the clinician.

In at least one form, the longitudinally movable drive member may have a rack of teeth formed thereon for meshing engagement with a corresponding drive gear arrangement interconnecting the motor. Further details regarding these features can be found in US Patent Application Publication No. 2015/0272575. In at least one form, the handle assembly 500 is also manually actuatable configured to allow a clinician to manually retract the longitudinally movable drive member to disable the motor 505. including "emergency" assemblies. The emergency assembly may include a lever or emergency handle assembly stored within handle assembly 500 below releasable door portion 550 . Please refer to FIG. The lever may be configured to be manually pivoted into ratcheting engagement with the teeth of the drive member. Accordingly, the clinician can manually retract the drive member by ratcheting it proximally "PD" using the emergency disengagement handle assembly. U.S. Pat. No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRRING SYSTEM," the entire disclosure of which is incorporated herein by reference, provides an emergency release mechanism, as well as a Disclosed are other components, mechanisms, and systems that may be used with any of the various interchangeable surgical tool assemblies disclosed in .

3 and 4, the replaceable surgical tool assembly 1000 has a surgical end effector 1500 with a first jaw 1600 and a second jaw 1800. As shown in FIG. In one configuration, first jaw 1600 includes an elongate channel member 1602 configured to operably support surgical staple/fastening element cartridge 1700 therein. Second jaw 1800 includes an anvil 1810 pivotally supported relative to elongate channel member 1602 . Interchangeable surgical tool assembly 1000 includes articulation joint 1302 and articulation lock 1400 (FIGS. 4-4) that can be configured to releasably retain surgical end effector 1500 in _a desired articulation position relative to shaft axis SA1. 6) can further include an articulation system 1300 .

As further seen in FIGS. 4 and 7-9, replaceable surgical tool assembly 1000 includes tool frame assembly 1200 with tool chassis 1210 operably supporting nozzle assembly 1240 . In one form, the nozzle assembly 1240 is comprised of nozzle portions 1242, 1244 and an actuator wheel portion 1246 configured to be coupled to the assembled nozzle portions 1242, 1244 by, for example, snaps, lugs, and/or screws. be. Interchangeable surgical tool assembly 1000 is operably coupled to distal closure assembly 2000, which is utilized to close and/or open anvil 1810 of surgical end effector 1500, as discussed in greater detail below. A proximal closure assembly 1900 is included. Additionally, replaceable surgical tool assembly 1000 includes a spine assembly 1250 that operatively supports proximal closure assembly 1900 and is coupled to surgical end effector 1500 . In various circumstances, to facilitate assembly, spine assembly 1250 may be manufactured from upper spine portion 1251 and lower spine portion 1252 interconnected to each other by, for example, snap features, adhesives, and/or welding. good too. In assembled form, spine assembly 1250 includes a proximal end 1253 rotatably supported on tool chassis 1210 . In one configuration, for example, proximal end 1253 of spine assembly 1250 is attached to a spine bearing configured to be supported within tool chassis 1210 . Such a configuration facilitates rotatable attachment of the spine assembly 1250 to the tool chassis 1210 and allows the spine assembly 1250 to be selectively rotated relative to the tool chassis 1210 _about shaft axis SA1. Specifically, in at least one configuration, the proximal ends 1253 of the spine assembly 1250 are, for example, upper projections each configured to receive a corresponding nozzle projection 1245 extending inwardly from each of the nozzle portions 1242, 1244. It has a seat 1254 (FIGS. 4, 5, 7, 8 and 10) and a lower raised seat. Such a configuration facilitates rotation of spine assembly 1250 about shaft axis SA ₁ by rotating actuator wheel portion 1246 of nozzle assembly 1240 .

As seen in FIGS. 4 and 5, spine assembly 1250 further includes an intermediate spine shaft portion 1256 having a smaller diameter than the diameter of proximal end 1253 of spine assembly 1250 . Middle spine shaft portion 1256 of upper spine portion 1251 terminates in upper lug attachment element 1260 and middle spine shaft portion of lower spine portion 1252 terminates in lower lug attachment element 1270 . As seen in FIG. 6, the upper lug mounting element 1260 is formed with a lug slot 1262 adapted to attachably support an upper mounting link 1264 therein. Similarly, lower projection mounting element 1270 is formed with projection slot 1272 adapted to attachably support lower mounting link 1274 therein. Upper attachment link 1264 has _a pivot socket 1266 offset from shaft axis SA1. Pivot socket 1266 is adapted to rotatably receive therein pivot pin 1634 formed on channel member cap or anvil retainer 1630 attached to proximal end portion 1610 of elongated channel member 1602 . . Lower attachment link 1274 has a lower pivot pin 1276 adapted to be received within pivot hole 1611 formed in proximal end portion 1610 of elongate channel member 1602 . See FIG. Lower pivot pin 1276 and pivot hole 1611 are offset from shaft axis _SA1 . Lower pivot pin 1276 is vertically aligned with pivot socket 1266 to define _an articulation axis AA1 _about which surgical end effector 1500 can articulate relative to shaft axis SA1. . Although articulation axis AA ₁ is transverse to shaft axis SA ₁ , articulation axis AA ₁ is laterally offset from shaft axis SA ₁ and does not intersect shaft axis SA ₁ .

6 and 15, anvil 1810 has an anvil body 1812 that terminates in anvil attachment portion 1820. Anvil attachment portion 1820 is shown in FIG. Anvil mounting portion 1820 is movable or pivotable on elongate channel member 1602 for selective pivotal movement about fixed anvil pivot axis PA ₁ (FIG. 15) that is transverse to shaft axis SA ₁ . movably supported. A pivot member or anvil trunnion 1822 extends laterally from each side of anvil mounting portion 1820 and is received within a corresponding trunnion cradle 1614 formed in upright wall 1612 of proximal end portion 1610 of elongate channel member 1602 . be. Anvil trunnions 1822 are pivotally retained within their corresponding trunnion cradles 1614 by channel member caps or anvil retainers 1630 . Channel member cap or anvil retainer 1630 is configured to be retained and received within corresponding protruding grooves or notches 1616 formed in upstanding wall 1612 of proximal end portion 1610 of elongated channel member 1602. It has a pair of mounting projections 1636 .

Surgical end effector 1500 is selectively articulatable about articulation axis AA ₁ by articulation system 1300 . In one form, articulation system 1300 has a proximal articulation drive 1310 pivotally coupled to articulation link 1320 . As seen in FIG. 6, an offset mounting projection 1314 is formed on the distal end 1312 of the proximal articulation drive 1310 . A pivot hole 1316 is formed in the offset mounting projection 1314 and is configured to pivotally receive a proximal link pin 1326 formed in the proximal end 1325 of the articulation link 1320 . Distal end 1322 of articulation link 1320 has a pivot hole 1324 configured to pivotally receive slot pin 1618 formed in proximal end portion 1610 of elongate channel member 1602 therein. there is Axial movement of proximal articulation drive 1310 thus imparts articulation to elongate channel member 1602 and articulates surgical end effector 1500 relative to spine assembly 1250 about articulation axis AA ₁ .

Movement of anvil 1810 relative to elongate channel member 1602 is effected by axial movement of proximal closure assembly 1900 and distal closure assembly 2000 . 4 and 7, the proximal closure assembly 1900 comprises a proximal closure tube 1910 having a proximal closure tube portion 1920 and a distal portion 1930. As shown in FIG. Distal portion 1930 has a diameter smaller than the diameter of proximal closed tube portion 1920 . A proximal end 1922 of the proximal closure tube portion 1920 is rotatably supported within a closure shuttle 1940 that is slidably supported within the tool chassis 1210 such that the closure shuttle 1940 is positioned relative to the tool chassis 1210. Can move axially. In one form, closure shuttle 1940 has a pair of proximally projecting hooks 1942 configured to attach to mounting pins 516 attached to closure link assembly 514 of handle assembly 500 . A proximal end 1922 of proximal closure tube portion 1920 is rotatably coupled to closure shuttle 1940 . For example, U-shaped connector 1944 is inserted into annular slot 1924 of proximal closure tube portion 1920 and retained within vertical slot 1946 of closure shuttle 1940 . Such a configuration functions to mount proximal closure assembly 1900 to closure shuttle 1940 for axial movement with closure shuttle 1940 while proximal closure assembly 1900 rotates relative to closure shuttle 1940 _about shaft axis SA1. make it possible to A closure spring 1948 (FIGS. 12-14) extends over the proximal closure tube portion 1920 to bias the closure shuttle 1940 in the proximal direction PD, which allows the replaceable surgical tool assembly 1000 to operate with the handle assembly. 500 functions to pivot closure trigger 512 (FIG. 2) of handle assembly 500 to an unactuated position.

5 and 6, distal portion 1930 of proximal closure tube 1910 is attached to distal closure assembly 2000 . For example, distal closure assembly 2000 has articulation connector 2010 coupled to distal closure tube portion 2030 . Distal obturator tube portion 2030 has a diameter greater than the diameter of distal portion 1930 of proximal obturator tube 1910 . Articulating connector 2010 has a proximally extending end 2012 adapted to be received on a connecting flange 1934 formed at the distal end of distal portion 1930 . Articulating connector 2010 may be retained on connecting flange 1934 by, for example, suitable fastening element configurations, adhesives, and/or welding. Articulation connector 2010 includes an upper projection 2014 and a lower projection 2016 projecting distally from a distal end of articulation connector 2010 that is movably coupled to an end effector closure sleeve or distal closure tube portion 2030 . Distal obturator tube portion 2030 has an upper lug 2032 and a lower lug projecting proximally from its proximal end. The upper dual pivot link 2060 has proximal and distal pins 2061, 2062 that engage corresponding holes 2015, 2034 in the upper protrusions 2014, 2032 of the articulation connector 2010 and distal obturator tube portion 2030, respectively. ing. Similarly, the lower dual pivot link 2064 has proximal and distal pins 2065, 2066 that engage corresponding holes 2019 in the articulation connector 2010 and the lower projection 2016 of the distal obturator tube portion 2030, respectively. have. Distal and proximal axial translation of proximal closure assembly 1900 and distal closure assembly 2000 effects opening and closing of anvil 1810 relative to elongated channel member 1602, as will be described in greater detail below.

Interchangeable surgical tool assembly 1000 further includes a firing system generally indicated as 2100 . Firing system 2100 further includes a firing member assembly 2110 supported for axial movement within spine assembly 1250 . Firing member assembly 2110 includes an intermediate firing shaft portion 2120 configured for attachment to a distal cutting portion or knife bar 2130 . Firing member assembly 2110 may also be referred to herein as a "second shaft" and/or a "second shaft assembly." As can be seen in FIG. 5, intermediate firing shaft portion 2120 can have a longitudinal slot 2124 at its distal end 2122 that can be configured to receive proximal end 2132 of knife bar 2130 . The longitudinal slot 2124 and the proximal end 2132 of the knife bar 2130 are sized and configured to allow relative movement therebetween and can form a slip joint 2134 . Slip joint 2134 allows intermediate firing shaft portion 2120 of firing member assembly 2110 to move to articulate end effector 1500 without moving knife bar 2130, or at least substantially without moving. After end effector 1500 is properly oriented, knife bar 2130 is advanced by advancing intermediate firing shaft portion 2120 distally until the proximal sidewall of longitudinal slot 2124 contacts a portion of knife bar 2130; A surgical staple/fastening element cartridge 1700 disposed within the elongate channel member 1602 can be fired. At the proximal end 2127 of the intermediate firing shaft portion 2120 is a firing mechanism configured to be disposed within a mounting cradle at the distal end of the longitudinally movable drive member of the firing drive system 530 within the handle assembly 500. A shaft mounting projection 2128 (FIG. 8) is formed. Such a configuration facilitates axial movement of intermediate firing shaft portion 2120 during actuation of firing drive system 530 .

In addition to the above, interchangeable tool assembly 1000 can have shifter assembly 2200 that can be configured to selectively and releasably couple proximal articulation drive 1310 to firing system 2100 . In one form, shifter assembly 2200 includes a locking collar, or locking sleeve 2210 disposed about intermediate firing shaft portion 2120 of firing system 2100 , where locking sleeve 2210 is connected to proximal articulation drive 1310 . to the firing member assembly 2110 and a disengaged position in which the proximal articulation drive 1310 is not operatively coupled with the firing member assembly 2110. When locking sleeve 2210 is in its engaged position, distal movement of firing member assembly 2110 can move proximal articulation drive 1310 distally, correspondingly proximally moving firing member assembly 2110 . The proximal motion can move the proximal joint drive 1310 in the proximal direction. When the locking sleeve 2210 is in its disengaged position, no motion of the firing member assembly 2110 is transmitted to the proximal articulation drive 1310 so that the firing member assembly 2110 moves independently of the proximal articulation drive 1310. be able to. In various situations, proximal articulation drive 1310 may be held in place by articulation lock 1400 when proximal articulation drive 1310 is not moved proximally or distally by firing member assembly 2110 .

Intermediate firing shaft portion 2120 of firing member assembly 2110 is formed with two opposed planar surfaces 2121, 2123 having drive notches 2126 formed therein. See FIG. As also seen in FIG. 13, locking sleeve 2210 has a cylindrical, or at least approximately cylindrical, body with longitudinal opening 2212 configured to receive intermediate firing shaft portion 2120 therethrough. ing. Locking sleeve 2210 is received for engagement within a corresponding portion of drive notch 2126 in intermediate firing shaft portion 2120 when locking sleeve 2210 is in one position, and the drive notch when in another position. It has diametrically opposed inwardly directed locking projections 2214 , 2216 that are not received within 2126 thereby permitting relative axial movement of locking sleeve 2210 and intermediate firing shaft portion 2120 .

8 and 12-14, locking sleeve 2210 is a locking member sized to be movably received within notch 1319 in proximal end 1318 of proximal articulation drive 1310. 2218. Such a configuration allows locking sleeve 2210 to rotate slightly into and out of engagement with intermediate firing shaft portion 2120 while engaging notch 1319 in proximal articulation drive 1310. is. For example, when locking sleeve 2210 is in its engaged position, locking projections 2214, 2216 are positioned within drive notches 2126 of intermediate firing shaft portion 2120 to provide a distally pushing force and/or a proximally pushing force. A pulling force may be transmitted from firing member assembly 2110 to locking sleeve 2210 . Such axial pushing or pulling motion is then transmitted from locking sleeve 2210 to proximal articulation drive 1310 , thereby articulating surgical end effector 1500 . In effect, firing member assembly 2110, locking sleeve 2210, and proximal articulation drive 1310 move together when locking sleeve 2210 is in its engaged (articulated) position. On the other hand, when locking sleeve 2210 is in its disengaged position, locking projections 2214, 2216 are not received within drive notches 2126 of intermediate firing shaft portion 2120, resulting in distal pushing forces and/or proximal Posterior pulling forces may not be transmitted from firing member assembly 2110 to locking sleeve 2210 (and proximal articulation drive 1310).

Relative movement of locking sleeve 2210 between the engaged and disengaged positions can be controlled by shifter assembly 2200 interconnected with proximal closure tube 1910 of proximal closure assembly 1900 . More particularly, referring to FIGS. 8 and 9, the shifter assembly 2200 further includes a shifter key 2240 configured to be slidably received within a keyway 2217 formed on the outer circumference of the lock sleeve 2210. is doing. Such a configuration allows shifter key 2240 to move axially relative to locking sleeve 2210 . 8-11, the shifter key 2240 has an actuator projection 2242 that extends through a cam slot or opening 1926 in the proximal closure tube portion 1920. As shown in FIG. See FIG. In addition, a camming surface 2243 is also provided adjacent actuator projection 2242 which is configured to cam opening 1926 such that shifter key 2240 rotates in response to axial movement of proximal tube closure portion 1920 . do.

Shifter assembly 2200 further includes a switch drum 2220 rotatably received on the proximal end portion of proximal closure tube portion 1920 . As seen in FIGS. 10-14, actuator projection 2242 extends through axial slot portion 2222 in switch drum 2220 and is movably received within arcuate slot portion 2224 of switch drum 2220 . A switch drum torsion spring 2226 (FIGS. 12-14) is mounted on the switch drum 2220 and engages the nozzle portion 1244 to push the switch drum until the actuator projection 2242 reaches the end of the arcuate slot portion 2224. Apply a torsional bias or rotation (arrow SR in FIGS. 10 and 11) that has the function of rotating 2220 . See FIGS. 11 and 12. FIG. When in that position, switch drum 2220 can impart a torsional bias to shifter key 2240, causing locking sleeve 2210 to rotate with intermediate firing shaft portion 2120 to its engaged position. This position also corresponds to the non-actuated configuration of proximal closure assembly 1900 . In one embodiment, for example, when proximal closure assembly 1900 is in the non-actuated configuration, actuator projection 2242 is positioned above cam opening 1926 in proximal closure tube portion 1920 (anvil 1810 is a surgical staple/fastening element). open position away from cartridge 1700). When in that position, actuation of intermediate firing shaft portion 2120 moves proximal articulation drive 1310 axially. Once the user has articulated surgical end effector 1500 in the desired orientation, the user can then actuate proximal closure assembly 1900 . Actuation of proximal closure assembly 1900 causes proximal closure tube portion 1920 to move distally, ultimately exerting a closing motion on anvil 1810 . This distal movement of proximal closure tube portion 1920 causes cam opening 1926 to cam with cam surface 2243 of actuator projection 2242, thereby causing shifter key 2240 to rotate locking sleeve 2210 in actuation direction AD. Such rotation of locking sleeve 2210 disengages locking projections 2214 , 2216 from drive notches 2126 in intermediate firing shaft portion 2120 . When so configured, firing drive system 530 can be actuated to actuate intermediate firing shaft portion 2120 without actuating proximal articulation drive 1310 . Further details regarding the operation of switch drum 2220 and locking sleeve 2210, and alternative articulation and firing drive mechanisms that can be used with the various interchangeable surgical tool assemblies described herein, are provided in that disclosure. U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), the entire contents of which are incorporated herein by reference, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK"; and US patent application Ser.

Referring again to FIGS. 8-13, the switch drum 2220 may further define openings 2228, 2230 having at least a partial perimeter, such openings extending from the nozzle portions 1242, 1244 to provide a switch. A circumferential projection/mount 1245 can be received that allows relative rotation, but not translation, of the drum 2220 and nozzle assembly 1240 . Such nozzle projections 1245 extend through corresponding openings 1923 in proximal closure tube portion 1920 and are positioned on projection seats 1254 of spine assembly 1250 . See FIGS. 8 and 9. FIG. Such a configuration allows a user to rotate spine assembly 1250 about the shaft axis by rotating nozzle assembly 1240 .

As also shown in FIGS. 7 and 12-14, the interchangeable tool assembly 1000 may, for example, transmit power to and/or from the surgical end effector 1500 and/or the surgical end effector 1500. and/or to communicate signals from the surgical end effector back to the microprocessor 560 (FIG. 2) in the handle assembly 500 or robotic system controller. can be done. Further details regarding the slip ring assembly 1230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), each of which is hereby incorporated by reference in its entirety. ), entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" and U.S. Patent Application No. 15/019,196, filed Feb. 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTAINTED"; See U.S. Patent Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014/0263552), the entirety of which is incorporated herein by reference. be able to. Interchangeable surgical tool assembly 1000 also includes at least one switch configured to detect the position of switch drum 2220, as described in more detail in the aforementioned patent application, which is incorporated herein by reference. can have one sensor.

Referring again to FIG. 2, tool chassis 1210 includes at least one dovetail slot 507 adapted to be received within a corresponding dovetail slot 507 formed within the distal end of handle frame 506 of handle assembly 500. A tapered mounting portion 1212 is formed. Various interchangeable surgical tool assemblies employ a latch system 1220 for releasably coupling interchangeable surgical tool assembly 1000 to handle frame 506 of handle assembly 500 . In at least one form, latch system 1220 includes a locking member or locking yoke 1222 movably coupled to tool chassis 1210, as seen in FIG. The locking yoke 1222 has a U shape with two spaced downwardly extending legs 1223 . Each of legs 1223 is formed with a pivot projection adapted to be received in a corresponding hole formed in tool chassis 1210 . Such a configuration facilitates pivotal attachment of locking yoke 1222 to tool chassis 1210 . Locking yoke 1222 has two proximally projecting locking projections 1224 configured to releasably engage corresponding locking detents or grooves 509 in the distal end of handle frame 506 of handle assembly 500 . can have Please refer to FIG. In various forms, locking yoke 1222 is biased proximally by a spring or biasing member 1225 . Actuation of the locking yoke 1222 can be accomplished by a latch button 1226 slidably attached to a latch actuator assembly 1221 attached to the tool chassis 1210 . Latch button 1226 can be biased proximally against locking yoke 1222 . Lock yoke 1222 can be moved to an unlocked position by biasing latch button 1226 distally, which further pivots lock yoke 1222 into retention engagement with the distal end of handle frame 506 . out of alignment. When locking yoke 1222 is in “retaining engagement” with the distal end of handle frame 506 , locking projections 1224 are retained within corresponding locking detents or grooves 509 in the distal end of handle frame 506 . placed.

Locking yoke 1222 has at least one locking hook 1227 adapted to contact a corresponding locking projection 1943 formed on closure shuttle 1940 . When the closure shuttle 1940 is in the unactuated position, the replaceable surgical tool assembly 1000 can be unlocked from the handle assembly 500 by pivoting the locking yoke 1222 distally. When in that position, locking hook 1227 is not in contact with locking projection portion 1943 of closure shuttle 1940 . However, when the closure shuttle 1940 is moved to the actuated position, the locking yoke 1222 is prevented from pivoting to the unlocked position. Stated another way, if the clinician attempts to pivot the locking yoke 1222 to the unlocked position, or if, for example, the locking yoke 1222 is inadvertently bumped in such a way as to pivot distally. Or, if contacted, the locking hook 1227 of the locking yoke 1222 contacts the locking projection portion 1943 of the closure shuttle 1940 to prevent the locking yoke 1222 from moving to the unlocked position.

Referring again to FIG. 6, knife bar 2130 can have a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands that are welded and/or pinned together, for example, at their proximal ends and/or elsewhere along their length. interconnected by In an alternative embodiment, the distal ends of the bands are not connected together to allow the laminations or bands to spread relative to each other when the end effector is articulated. Such a configuration allows the knife bar 2130 to be flexible enough to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. patent application Ser. . 6, firing shaft support assembly 2300 is configured to provide lateral support to knife bar 2130 as firing shaft support assembly flexes to accommodate articulation of surgical end effector 1500. used for Further details regarding the operation of the firing shaft support assembly 2300 and alternative knife bar support mechanisms are provided in U.S. patent application Ser. and U.S. Patent Application Serial No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR."

As also seen in FIG. 6, a firing member or knife member 2140 is attached to the distal end of knife bar 2130 . In one exemplary form, firing member 2140 includes a body portion 2142 that supports a knife or tissue cutting portion 2144 . Body portion 2142 projects through elongate slot 1604 in elongate channel member 1602 and terminates in laterally extending foot members 2146 on each side of body portion 2142 . As firing member 2140 is driven distally through surgical staple/fastener cartridge 1700 , foot member 2146 is positioned within the passageway of elongated channel member 1602 underlying surgical staple/fastener cartridge 1700 . . In one configuration, body portion 2142 has two laterally projecting central tabs 2145 that may be positioned over a central passageway within surgical staple/fastener cartridge 1700 . See FIG. Tissue cutting portion 2144 is positioned between distally projecting upper nose portion 2143 and foot member 2146 . As can also be seen in FIG. 6, the firing member 2140 can further have two laterally extending upper tabs, pins, or anvil engagement features 2147 . As firing member 2140 is driven distally, the upper portion of body portion 2142 extends through centrally located anvil slot 1814 with anvil engagement features 2147 formed on opposite sides of anvil slot 1814 correspondingly. Located on anvil ledge 1816 . To facilitate assembly of the anvil 1810 and firing member 2140 configuration, in one configuration the top of the anvil body 1812 has an opening 1817 . When anvil 1810 is assembled onto elongated channel member 1602 and firing member 2140 is installed, opening 1817 is covered by anvil cap 1819 that is attached to anvil body 1812 by welding and/or other suitable fastening means.

Returning to FIG. 6, firing member 2140 is configured to operably interconnect with sled assembly 2150 operably supported within body 1702 of surgical staple/fastening element cartridge 1700 . Sled assembly 2150 is slidable within surgical staple/fastening element cartridge body 1702 from a proximal starting position adjacent proximal end 1704 of cartridge body 1702 to an ending position adjacent distal end 1706 of cartridge body 1702 . can be displaced to Cartridge body 1702 operatively supports therein a plurality of staple drivers aligned in rows on each side of a centrally located slot 1708 . A centrally located slot 1708 allows firing member 2140 to pass through the slot and cut tissue clamped between anvil 1810 and surgical staple/fastener cartridge 1700 . Associated with each driver is a corresponding respective pocket 1712 that opens into the upper deck surface 1710 of the cartridge body 1702 . Each staple driver supports one or more surgical staples or fastening elements thereof thereon. Sled assembly 2150 includes a plurality of angled or wedge-shaped cams 2152 , each cam 2152 corresponding to a particular line of fastening elements or drivers flanking slot 1708 .

2, to attach replaceable surgical tool assembly 1000 to handle assembly 500, the clinician aligns tapered attachment portion 1212 formed in tool chassis 1210 with dovetail slot 507 in handle frame 506. , the tool chassis 1210 of the replaceable surgical tool assembly 1000 can be positioned above or adjacent to the distal end of the handle frame 506 . The clinician then moves surgical tool assembly 1000 along installation axis IA perpendicular to shaft axis _SA1 to align tapered mounting portion 1212 with corresponding dovetail receiving slot 507 in the distal end of handle frame 506. can be placed in "possible engagement". In doing so, the firing shaft mounting projections 2128 of the intermediate firing shaft portion 2120 are also disposed within the mounting cradle cradle of the longitudinally movable drive member within the handle assembly 500, and the portion of the mounting pin 516 on the closure link 514 is located in the cradle. , are positioned within corresponding hooks 1942 of the closure shuttle 1940 . As used herein, the term "operable engagement" in the context of two components means that when those two components are fully engaged with each other such that an actuation motion is applied to them, It means that the component performs the intended action, function, and/or procedure.

During a routine surgical procedure, a clinician can introduce surgical end effector 1500 into the surgical site through a trocar or other opening in the patient to access target tissue. In doing so, the clinician axially aligns, or at least substantially aligns, the surgical end effector 1500 in a non-articulated state along the shaft axis and inserts the surgical end effector 1500 through the trocar. . After passing the surgical end effector 1500 through the trocar, the clinician may need to articulate the end effector 1500 to advantageously position the end effector 1500 adjacent the target tissue. In addition to the above, firing drive system 530 is operated through a limited range of motion to articulate articulation drive 1310 and end effector 1500 . Such articulation occurs prior to closing the anvil over the target tissue. Once the end effector reaches the desired articulated position, the clinician can then activate the closure drive system 510 to close the anvil 1810 onto the target tissue. Such closing drive system 510 actuates shifter assembly 2200 to separate articulation drive 1310 from intermediate firing shaft portion 2120 . Accordingly, once the target tissue is properly captured within surgical end effector 1500 , the clinician reactivates firing drive system 530 to advance firing member 2140 axially through surgical staple/fastener cartridge 1700 . , the staples can be fired into the cut tissue to cut the target tissue. For example, closing system components, articulating system components, and/or firing system components of surgical tool assembly 1000 can be controlled using other closing and firing drive configurations such as handheld, manual, automatic, and/or robotic configurations. can control the axial movement of the

End effector 10500 of surgical instrument 10000 is shown in FIGS. 16-16B. End effector 10500 includes a cartridge jaw 10600 (FIG. 18) that includes a staple cartridge 10700 and also an anvil 10800 that is configured to deform staples ejected from staple cartridge 10700 . In use, the anvil 10800 is rotatable between an open, unclamped position and a closed, clamped position. However, cartridge jaws 10600 may be rotatable toward anvil 10800 in other embodiments. Surgical instrument 10000 further comprises shaft 10100 and end effector 10500 is rotatably connected to shaft 10100 about articulation joint 10200 . In use, the end effector 10500 can be positioned between and/or between a fully articulated right position (FIG. 16A) indicated by angle θ _R and a fully articulated left position (FIG. 16B) indicated by angle θ _L . It is rotatable about articulation joint 10200 at any suitable position between . As discussed in more detail below, angles θ _R and θ _L are limited by the articulation drive system design of surgical instrument 10000 . In at least one example, angles θ _R and θ _L are limited to approximately 45 degrees relative to the non-articulated position of end effector 10500 (FIG. 16).

Referring to FIG. 18, shaft 10100 of surgical instrument 10000 includes an outer closure tube including an outer housing 10110 that is distally movable to engage anvil 10800 and move anvil 10800 toward staple cartridge 10700. including. Shaft 10100 further comprises a distal housing portion 10130 rotatably connected to outer housing 10110 by two connector plates 10120 positioned on either side of articulation joint 10200 . Each connector plate 10120 is connected to outer housing 10110 at pivot 10115 and likewise connected to distal housing portion 10130 at pivot 10125 . The connector plate 10120 allows the obturator tube to slide relative to the articulation joint 10200 when the end effector 10500 is in the articulated position, so that the anvil 10800 slides while the end effector 10500 is in the articulated position. can be opened and closed. Further to the above, the distal housing 10130 includes an opening defined therein configured to receive a tab extending from the proximal end of the anvil 10800, the side walls of which engage the tab and close. Configured to transmit proximal or opening motion of the tube to the anvil 10800 .

End effector 11500 of surgical instrument 11000 is shown in FIGS. 17-17B. End effector 11500 includes a cartridge jaw 11600 ( FIG. 19 ) that includes a staple cartridge 11700 and also an anvil 11800 that is configured to deform staples ejected from staple cartridge 11700 . In use, the anvil 11800 is rotatable between an open, unclamped position and a closed, clamped position. However, embodiments are envisioned in which the cartridge jaw 11600 is moveable relative to the anvil 11800 . Surgical instrument 11000 further comprises a shaft 11100 to which end effector 11500 is rotatably connected about articulation joint 11200 . In use, end effector 11500 can be positioned between and/or between a fully articulated right position (FIG. 17A) indicated by angle α _R and a fully articulated left position (FIG. 17B) indicated by angle α _L. It is rotatable about articulation joint 11200 at any suitable position between . Angles α _R and α _L are ultimately limited by the articulation drive system design of surgical instrument 11000, but angles α _R and α _L are larger. In at least one example, angles α _R and α _L are, for example, approximately 60 degrees relative to the unarticulated position of end effector 11500 (FIG. 17).

Referring to FIG. 19, shaft 11100 of surgical instrument 11000 has an outer closure tube including an outer housing 11110 that is distally movable to engage anvil 11800 and move anvil 11800 toward staple cartridge 11700. including. Shaft 11100 further comprises a distal housing 11130 rotatably connected to outer housing 11110 by two connector plates 11120 positioned on opposite sides of articulation joint 11200 . Each connector plate 11120 is connected to outer housing 11110 at pivot 11115 and is likewise connected to distal housing 11130 at pivot 11125 . Similar to above, the connector plate 11120 allows the obturator tube to slide relative to the articulation joint 11200 when the end effector 11500 is in the articulated position so that the end effector 11500 is in the articulated position. The anvil 11800 can be opened and closed in between. Further to the above, the distal housing 11130 includes an opening defined therein configured to receive a tab extending from the proximal end of the anvil 11800, the side walls of which engage the tab and close. Configured to transmit proximal or opening motion of the tube to anvil 11800 .

Referring again to FIG. 18, surgical instrument 10000 further comprises articulation drive system 10300 including articulation drive actuator 10310 extending through internal opening 10105 defined within closure tube 10110 of shaft 10100 . Articulation drive actuator 10310 includes a distal end that operatively engages cartridge jaws 10600 of end effector 10500 . More specifically, the distal end of articulation drive actuator 10310 includes an opening or slot 10320 defined therein, and cartridge jaw 10600 includes a pin 10620 extending into slot 10320 . When articulation drive actuator 10310 is pushed distally, end effector 10500 is driven right about a fixed axis defined by pivot 10210 that rotatably connects cartridge jaw 10600 to the frame of shaft 10100. (Fig. 16A). Similarly, when articulation drive actuator 10310 is pulled proximally, end effector 10500 rotates to the left about pivot 10210 (FIG. 16B).

Referring again to FIG. 19, surgical instrument 11000 further comprises articulation drive system 11300 including articulation drive actuator 11310 extending through internal opening 11105 defined within closure tube 11110 . Articulation drive system 11300 further comprises articulation link 11320 rotatably coupled to the distal end of articulation drive actuator 11310 about pin 11315 . Similarly, articulation link 11320 is rotatably coupled to cartridge jaw 11600 about drive pin 11620 extending through an opening defined in articulation link 11320 . When articulation drive actuator 11310 is pushed distally, end effector 11500 is driven right about a fixed axis defined by pivot 11210 that rotatably connects cartridge jaw 11600 to the frame of shaft 11100 . (Fig. 17A). Similarly, when articulation drive actuator 11310 is pulled proximally, end effector 11500 rotates to the left about pivot 11210 (FIG. 17B).

In addition to the above, articulation link 11320 of articulation system 11300 articulates end effector 11500 through a wider range of articulation angles than end effector 10500 for a given or equal stroke length of articulation actuators 10310 and 11310. make it possible. A side-by-side comparison of end effectors 10500 and 11500 is provided in FIGS. It shows that it can be articulated to Similarly, a comparison can be made where end effectors 10500 and 11500 are shown in the full left articulation configuration. 22 shows the full articulation range of the end effector 10500, while FIG. 23 shows the full articulation range of the end effector 11500. FIG.

Referring again to FIG. 22, articulation actuator 10310 of surgical instrument 10000 advances distal stroke length (DSL) relative to its non-articulated position to fully articulate end effector 10500 to the right. Correspondingly, articulation actuator 10310 retracts a proximal stroke length (PSL) to its unarticulated position, fully articulating end effector 10500 to the left. The distal stroke length (DSL) and proximal stroke length (PSL) of the articulation actuator 10310 are equal, or at least substantially equal. Referring now to FIG. 23, articulation actuator 11310 advances a distal stroke length (DSL) relative to its unarticulated position, fully articulating end effector 11500 to the right. Correspondingly, articulation actuator 11310 retracts a proximal stroke length (PSL) relative to its unarticulated position, fully articulating end effector 11500 to the left. The distal stroke length (DSL) and proximal stroke length (PSL) of the articulation actuator 11310 are not equal, instead the distal stroke length (DSL) is shorter than the proximal stroke length (PSL). In other embodiments, the proximal stroke length (DSL) is shorter than the distal stroke length (PSL). In any event, referring now to FIGS. 31-31B, the combination of proximal stroke length (PSL) and distal stroke length (DSL) equals total stroke length (SL).

Further to the above, articulation actuator 10310 is configured to apply torque to first jaw 10600 of end effector 10500 via pin 10620 to rotate end effector 10500 about articulation joint 10200. . Referring again to FIG. 22, the lateral torque arm defined between the pivot joint 10210 and the pin 10620 of the articulation joint 10200 extends a length TA _C1 when the end effector 10500 is in its non-articulated position. have. Length TA _C1 is measured orthogonally to longitudinal axis 10190 extending through articulation pivot joint 10210 . Similarly, the lateral torque arm defined between pivot joint 10210 and pin 10620 has a length TA R1 when end effector 10500 is fully articulated to the right, and similarly a length TA _R1 of end effector 10500 . is fully articulated to the left, both lengths are measured orthogonal to the longitudinal axis ₁₀₁₉₀ . In particular, the lengths TA _R1 and TA _L1 and the torque arms they define are equal, or at least substantially equal. Further, lengths TA _R1 and TA _L1 are less than the non-articulating lateral torque arm length TA _C1 . Thus, the maximum torque arm or mechanical advantage of the articulation system 10300 exists when the end effector 10500 is in its non-articulated position.

In at least one example, for example, arm length TA _C1 is approximately 0.180 inches, arm length TA _R1 is approximately 0.130 inches, and arm length TA _L1 is approximately 0.130 inches.

In addition to the above, articulation actuator 11310 of surgical instrument 11000 applies torque to first jaw 11600 of end effector 11500 via pin 11620 to rotate end effector 11500 about articulation joint 11200. configured as 23, 28 and 30, the lateral torque arm (LTA) defined between the pivot joint 11210 and the pin 11620 of the articulation joint 11200 is applied when the end effector 11500 is in its non-articulated position. , is defined by the length TA _C2 . Length TA _C2 is measured orthogonally to longitudinal axis 11190 extending through articulation pivot joint 11210 . In particular, longitudinal axis 11190 is offset and parallel to the centerline of shaft 11100, as described in more detail below in connection with FIG. Similar to above, the lateral torque arm defined between pivot joint 11210 and pin 11620 is defined by length TA _R2 when end effector 11500 is fully articulated to the right (FIG. 30A ), similarly defined by length TA _L2 when end effector 11500 is fully articulated to the left (FIG. 30B), both lengths measured orthogonal to longitudinal axis 11190. be. In particular, length TA _R2 is greater than non-articulation lateral torque arm length TA _C1 , and length TA _L2 is less than non-articulation lateral torque arm length TA _C1 . Further, the lengths TA _R2 and TA _L2 and the torque arms they define are unequal. Instead, the right articulated torque arm length TA _R2 is significantly greater than the left articulated torque arm length TA _L2 . In fact, the right articulated torque arm length TA _R2 and the left articulated torque arm length TA _L2 extend in different directions. Such a configuration provides a larger pushing torque arm compared to a smaller pulling torque arm. In various examples, the resulting retraction pull force (FIG. 30B) applied by articulation actuator 11310 to articulate end effector 11500 to the left results in a distal push to articulate end effector 11500 to the right. It may or may need to be greater than the force (Figs. 29 and 30A). Advantageously, the articulation actuator 11310 can accommodate greater pulling forces such that the articulation actuator 11310 does not experience buckling failure when pulled.

In at least one example, for example, arm length TA _C2 is approximately 0.149 inches, arm length TA _R2 is approximately 0.154 inches, and arm length TA _L2 is approximately 0.015 inches.

In addition to the above, surgical instrument 11000 is constructed and arranged to provide a large torque to end effector 11500 while providing a large joint range or curve in response to short articulation strokes. That is, several design ratios of these relationships can be established and used to design surgical instrument 11000 . For example, the first ratio includes the torque arm length (TA) fully articulated to the right divided by the full articulation stroke length (SL) of the articulation actuator 11310 . This first ratio value is unitless. In at least one example, the right fully articulated torque arm length (TA) is 0.154 inches, the full articulation stroke length (SL) is 0.275 inches, and the ratio value is , for example 0.56. A higher ratio value for the first ratio indicates a more efficient joint system. In various examples, the value of the first ratio is less than 1.0, but may exceed 1.0. In at least one example, the right fully articulated torque arm length (TA) is 2.79 mm, the full articulation stroke length (SL) is 11.43 mm, and the ratio value is e.g. 0.24.

The first ratio example above was based on the torque arm length (TA) when the end effector 11500 was in the full right articulation position. This particular position of the end effector 11500 is notable because the articulation actuator 11310 is in compression and can undergo buckling when the load transmitted therethrough is excessive. Accordingly, the first ratio can also be used to analyze any suitable position of the end effector 11500, such as, for example, its unarticulated position and its fully articulated position to the left. In at least one example, the unarticulated torque arm length (TA) is 6.17 mm, resulting in a ratio value of 0.54 for a stroke length (SL) of, for example, 11.43 mm. Also, in at least one example, the full left articulation torque arm length (TA) is 1.41 mm, resulting in a ratio value of 0.12 for a stroke length (SL) of, for example, 11.43 mm. .

A second ratio is that when the end effector 11500 articulates between its fully articulated right and fully articulated left positions, i.e., arc length curve (ALS), the drive pin 11620 contains the arc length traveled by . More specifically, the second ratio includes the arc length curve (ALS) of drive pin 11620 divided by the full articulation stroke length (SL) of articulation actuator 11310 . This second ratio value is unitless. In at least one example, the drive pin 11620 arc length curve (ALS) is 0.387 inches and the full articulation stroke length (SL) is 0.275 inches, resulting in a ratio value of 1, for example. .41. In at least one example, the arc length curve (ALS) is 0.444 inches and the full articulation stroke length (SL) is 0.306 inches, so that for example the ratio value is 1.45 become. In at least one example, the arc length curve (ALS) is 12.94 mm and the full articulation stroke length (SL) is 11.43 mm, resulting in a ratio value of 1.13, for example. A higher ratio value for the second ratio indicates a more efficient joint system. In various examples, the value of the second ratio is greater than 1.0, such as between 1.0 and 3.0. In at least one example, for example, the second ratio value is approximately 2.0. In a particular example, the value of the second ratio is approximately 1.1, such as between 0.9 and 1.3.

A third ratio comprises the sum of the right fully articulated torque arm length (TA) and drive pin 11620 arc length curve (ALS) divided by the full articulation stroke length (SL). This third ratio value is unitless. In at least one example, the torque arm length (TA) fully articulated to the right is 0.154 inches and the arc length curve (ALS) of the drive pin 11620 is 0.387 inches, giving full The articulation stroke length (SL) is 0.275 inches and the ratio value is, for example, 1.97. In at least one example, the torque arm length (TA) fully articulated to the right is 2.79 mm and the drive pin 11620 arc length curve (ALS) is 12.94 mm with full articulation The stroke length (SL) is 1,1.43 mm and the ratio value is, for example, 1.38. A higher ratio value for the third ratio indicates a more efficient joint system. In various examples, the value of the third ratio is greater than 1.0, such as between 1.0 and 3.0. In at least one example, for example, the third ratio value is greater than or equal to about 2.0.

Similar to above, when the end effector 11500 is in any suitable position, such as the unarticulated position and the fully articulated position to the left, a third ratio can be used to evaluate the articulated system. .

A fourth ratio comprises the product of the right fully articulated torque arm length (TA) and the drive pin 11620 arc length curve (ALS) divided by the full articulation stroke length (SL). The value of this fourth ratio is not unitless, but is instead measured in distance. In at least one example, the torque arm length (TA) fully articulated to the right is 0.154 inches and the arc length curve (ALS) of the drive pin 11620 is 0.387 inches for full The articulation stroke length (SL) is 0.275 inches and the ratio value is, for example, 0.217 inches. Dividing this value again by the stroke length (SL) makes this value unitless and can give a value of 0.79. In at least one example, the torque arm length (TA) fully articulated to the right is 2.79 mm and the drive pin 11620 arc length curve (ALS) is 12.94 mm, with full articulation The stroke length (SL) is 11.43 mm and the ratio value is for example 3.15 mm. In a particular example, the value of the fourth ratio is approximately 3.1 mm, eg, between 0.9 mm and 5.4 mm. Dividing this value again by the stroke length (SL), as above, makes this value unitless and may give a value of 0.28. A higher ratio value for the fourth ratio indicates a more efficient joint system.

Similar to above, when the end effector 11500 is in any suitable position, such as the unarticulated position and the fully articulated position to the left, a fourth ratio can be used to evaluate the articulated system. .

As described above, end effector 11500 is rotatably mounted to shaft 11100 about fixed pivot 11210 of articulation joint 11200 . 24 and 25, the shaft 11100 includes a distal mounting tab 11220 extending from and fixedly attached to the frame or spine of the shaft 11100. As shown in FIG. A first distal mounting tab 11220 is attached to the first jaw 11600 comprising the lower frame portion and a second distal mounting tab 11220 is attached to the upper frame portion 11230 . The interconnection between mounting tab 11220, first jaw 11600 and upper frame portion 11230 defines fixed pivot 11210. As shown in FIG. Also as noted above, fixed axis pivot 11210 is laterally offset relative to central longitudinal axis LA of shaft 11100 by an offset distance OD. In at least one example, fixed axis pivot 11210 is, for example, about. Laterally offset by 036 inches. 28-30B, pin 11620 is longitudinally offset with respect to fixed pivot 11210, which creates a longitudinal or axial torque arm (ATA).

As described above, the closure tube of shaft 11100 moves distally to engage anvil jaws 11800 of end effector 11500 and move anvil jaws 11800 toward staple cartridge 11700 disposed in cartridge jaws 11600. It is possible. Stated another way, the closure tube is configured to move the anvil 11800 from the open position (FIGS. 26-26B) to the closed position (FIGS. 27-27B) to clamp the patient's tissue against the staple cartridge 11700. be. In such cases, the closure tube comprising housing 11110, connector plate 11120, and distal housing 11130 is slid distally relative to articulation joint 11200 during the closing stroke. 26, connector plate 11120 extends slightly transverse to central longitudinal axis LA of shaft 11100 when end effector 11500 is in the open, non-articulated configuration. More specifically, axis CA extending between joints 11115 and 11125 is slightly transverse to central longitudinal axis LA of shaft 11100 when end effector 11500 is in the open, unarticulated configuration. be. When end effector 11500 articulates to the right (FIG. 26A) or left (FIG. 26B), the orientation of axis CA relative to central longitudinal axis LA may change.

Further to the above, in various examples, the orientation of axis CA varies with respect to a longitudinal axis extending between the proximal and distal ends of end effector 11500 . In at least one example, axis CA is transverse to the longitudinal end effector axis, except in one configuration where axis CA is parallel to such longitudinal end effector axis.

In addition to the above, the orientation of axis AA defined between articulation pivot 11210 and distal pivot 11125 of connector plate 11120 changes as end effector 11500 articulates. Referring to FIG. 26, axis AA extends at an angle β with respect to axis CA when end effector 11500 is in the open, non-articulated configuration. As the end effector 11500 articulates to the open right configuration (FIG. 26A), the angle β decreases. As the end effector 11500 articulates to the open left configuration (FIG. 26B), the angle β increases. However, when the open end effector 11500 is articulated, axis AA is not collinear or parallel to axis CA. Instead, axis AA traverses axis CA when end effector 11500 is articulated in the open configuration.

Referring to FIG. 27, axis AA extends at an angle γ with respect to axis CA when end effector 11500 is in the closed, non-articulated configuration. As the end effector 11500 articulates to the closed right configuration (FIG. 27A), the angle γ increases. As the end effector 11500 articulates to the closed left configuration (FIG. 27B), the angle δ also increases. However, when the end effector 11500 articulates in the closed configuration and/or any other configuration between the open and closed configurations, axis AA is not collinear with axis CA. Instead, axis AA traverses axis CA when end effector 11500 articulates in the closed configuration and/or any other configuration between the open and closed configurations.

Referring again to FIGS. 20 and 21, the design of surgical instrument 11000 allows end effector 11500 to be shortened as compared to end effector 10500 . Also, while the distance between articulation joint 10200 and the proximal end of the staple line applied to the patient's tissue by end effector 10500 is distance L1, the distance between articulation joint 11200 and the staple line applied by end effector 11500 is L1. is distance L2, which is shorter than distance L1.

40-45, surgical instrument 11000 further comprises an articulation lock 11400 configured to selectively lock articulation drive system 11300 and end effector 11500 in place. Articulation lock 11400 includes distal end 11402 attached to frame 11180 of shaft 11100 . More specifically, shaft frame 11180 includes pins or protrusions 11182 that are closely received and/or pressed within openings defined in distal end 11402 . Articulation lock 11400 further comprises a proximal end 11404 configured to move relative to distal end 11402 . In at least one respect, articulation lock 11400 includes a cantilever beam, distal end 11402 includes a fixed end, and proximal end 11404 includes a free end. Proximal end 11404 is disposed within cavity 11184 defined in shaft frame 11180 for lateral movement toward and away from articulation drive actuator 11310, as described in more detail below. Configured.

Further to the above, the proximal end 11404 of the articulation lock 11400 includes one or more teeth 11406 defined thereon configured to engage the articulation drive actuator 11310 . As shown in FIG. 40, teeth 11406 are arranged in a longitudinal array. However, any suitable arrangement may be used. Articulation drive actuator 11310 includes a longitudinal array of teeth 11316 defined thereon configured to be engaged by articulation locking teeth 11406 . Referring to FIG. 41, the shaft frame 11180 further includes a longitudinal array of teeth 11186 defined therein that are further configured to engage the joint locking teeth 11406 . As described in more detail below, when articulation lock 11400 is in the fully locked state, articulation lock tooth 11406 engages drive actuator tooth 11316 and shaft frame tooth 11186 such that articulation lock 11400 engages articulation drive actuator 11310. Locking to shaft frame 11180 prevents or at least inhibits relative motion between articulation drive actuator 11310 and shaft frame 11180 .

In addition to the above, the articulation lock 11400 is configurable in three states: self-locking, unlocking, and fully locking. When the articulation lock 11400 is in the self-locking state, referring to FIG. 43, teeth 11406 of articulation lock 11400 engage drive actuator teeth 11316 and shaft frame teeth 11186 . In such cases, articulation lock 11400 can resist forces transmitted through articulation drive actuator 11310 . However, proximal and/or distal movement of articulation drive actuator 11310 can overcome the holding force of articulation lock 11400 and displace articulation lock 11400 to its unlocked configuration, as shown in FIG. In such cases, the articulation lock 11400 may flex or flex laterally away from the drive actuator 11310 . The articulation lock 11400 includes a spring member 11403 extending between a distal portion 11402 and a proximal portion 11404 that resiliently returns the articulation lock to its self-locking configuration (FIG. 42), or configured to at least bias. As a result, the articulation drive system 11300 locks and unlocks itself and the end effector 11500 as a result of its movement, unless the articulation lock 11400 is placed in its fully locked position, as discussed below. Can be articulated.

As further described above, shaft 11100 of surgical instrument 11000 includes a closure tube 11110 that advances distally during the closing stroke to close end effector 11500 . Prior to the closing stroke, articulation lock 11400 is moveable between its self-locking and unlocking configurations and end effector 11500 can be articulated by articulation drive system 11300 . However, during the closing stroke, the closure tube 11110 is configured to engage the articulation lock 11400 and position or retain the articulation lock 11400 in its fully locked configuration. More specifically, the closure tube 11110 engages a cam surface 11408 defined on the back of the articulation lock 11400 to prevent the articulation lock tooth 11406 from dislodging from the drive actuator tooth 11316 and the shaft frame tooth 11186. includes protrusions or tabs 11118 configured to . When the closure tube 11110 is retracted proximally to open the end effector 11500, the tabs 11118 unlock from the articulation lock 11400, which, as described above, is between self-locking and unlocked positions. Effector 11500 can be re-articulated because it is free to move between.

The surgical instrument 11000 described above is further illustrated in FIGS. 80-82. Surgical instrument 11000 includes a shaft 11100 configured for use with a trocar having a passageway defined therein. Surgical instrument shaft 11100 includes different diameters at different points along the length of surgical instrument shaft 11100 . In particular, surgical instrument shaft 11100 includes central region 11160 that includes a smaller diameter than other regions of surgical instrument shaft 11000 . This geometry of surgical instrument shaft 11100 provides significant advantages over previous designs and solves a long felt problem associated with the use of trocars. Typically, when a surgical instrument is used in conjunction with a trocar during a surgical procedure, the surgical procedure is limited by the range of angles that the instrument can take as a result of the compression created by the trocar passageway. The configuration of surgical instrument shaft 11100 is an improvement over existing shaft configurations to increase the range of possible angles of the surgical instrument with respect to the longitudinal axis of the trocar. As a result, a user of surgical instrument 11000 can manipulate surgical instrument 11000 at various angles relative to the longitudinal axis of the trocar due to the reduced diameter of central region 11160 of surgical instrument shaft 11100 .

80 and 81, surgical instrument shaft 11100 further includes proximal region 11150 and distal region 11170. As shown in FIG. A proximal region 11150 of surgical instrument shaft 11000 is positioned adjacent nozzle assembly 11140 of shaft 11100 . Distal region 11170 is closest to end effector 11500 . A proximal region 11150 of the surgical instrument shaft comprises a first diameter and a central region 11160 comprises a second diameter. Distal region 11170 further includes a third diameter. The first diameter of proximal region 11150 is different than the second diameter of central region 11160 . Similarly, the second diameter of central region 11160 is different than the third diameter of distal region 11170 . The first diameter of proximal region 11150 is different than the third diameter of distal region 11170 . However, embodiments are envisioned in which the first diameter and the third diameter are the same.

In addition to the above, proximal region 11150 defines a central longitudinal axis. A central region 11160 extends along and is centered about the central longitudinal axis. Proximal region 11150 and central region 11160 each define a circular contour, but they can include any suitable configuration. Distal region 11170 is not centered with respect to the central longitudinal axis. Instead, the distal region 11170 is laterally offset with respect to the central longitudinal axis. Further, much of the cross-section and/or circumference of distal region 11170 is located on the first side of the central longitudinal axis rather than the second side. In at least one example, distal region 11170 includes an enlargement extending to one side of the central longitudinal axis. Additionally, distal region 11170 does not define a circular profile.

With continued reference to FIGS. 80 and 81 , central region 11160 includes a second width that is less than the first width of proximal region 11150 . The central region further includes a second width less than the third width of distal region 11170 . Proximal region 11150 further includes a width that is different than the width of distal region 11170 . For example, the width of proximal region 11150 is less than the width of distal region 11170 but still greater than the width of central region 11160 . Similarly, the width of proximal region 11150 is greater than the width of distal region 11170 and the width of central region 11160 . In other examples, proximal region 11150 and distal region 11170 include approximately the same width.

80-82, surgical instrument shaft 11100 of surgical instrument 11000 is configured to mount through a 12 mm trocar, for example. In at least one such example, central region 11160 of surgical instrument shaft 11100 includes a maximum diameter of about 9 mm. Such a diameter of the central region 11160 provides a wider range of angles that the shaft 11100 can take relative to the centerline of the trocar. Also, such placement can reduce the potential for causing intercostal nerve injury associated with placing the surgical instrument shaft 11100 between the patient's ribs during certain surgical procedures. The distal region 11170 of the surgical instrument shaft 11100 is configured to fit through a 12mm trocar and has one or more flats to increase access levels during procedures requiring high levels of articulation. A face 11172 is provided. Other embodiments are envisioned in which the shaft 11100 is inserted through, for example, an 8mm trocar and/or a 5mm trocar.

Proximal region 11150 includes a stepped-down or tapered region near the proximal end of surgical instrument shaft 11100 where surgical instrument shaft 11100 transitions from proximal region 11150 to central region 11160 . Central region 11160 further includes a stepped-up or tapered region near the distal end of surgical instrument shaft 11100 where surgical instrument shaft 11100 transitions from central region 11160 to distal region 11170 .

With continued reference to FIGS. 80 and 81, proximal region 11150 includes a first perimeter, central region 11160 includes a second perimeter, and distal region 11170 includes a third perimeter. The circumference of the proximal region 11150 differs from the circumference of the central region 11160 due to the different diameters of such portions of the surgical instrument shaft 11100 . Similarly, the perimeter of the central region 11160 and the perimeter of the distal region 11170 are different. The perimeter of the proximal region 11150 and the perimeter of the distal region 11170 are the same, but may be different in other embodiments.

80 and 81, although surgical instrument shaft 11100 comprises a single formed piece of material, surgical instrument shaft 11100 alternatively forms a single unitary surgical instrument shaft. It can include multiple pieces of material that combine to form a single piece. The pieces of material can be assembled using any suitable process. Surgical instrument shaft 11100 is configured to operate in a variety of surgical configurations, not limited to the surgical stapling instruments described above. Surgical instrument shaft 11100 can be used with other surgical instruments having articulatable end effectors. Other surgical instruments can include, for example, ultrasonic surgical devices, clip appliers, and fastener appliers. Additionally, surgical instrument shaft 11100 is configured for use with any surgical instrument for which use of a trocar passage is appropriate.

In addition to the above, the outer tube 11110 of the shaft 11100 includes a proximal end 11150 and a longitudinal portion 11160 that includes a diameter or width less than the diameter or width of the proximal end 11150 . Accordingly, surgical instrument 11000 is constructed and arranged to provide high torque to end effector 11500 while longitudinal portion 11160 includes a narrow diameter. That is, at least one design ratio of this relationship can be defined and used to design surgical instrument 11000 . For example, one ratio includes the diameter (D) of longitudinal portion 11160 divided by the torque arm length (TA) fully articulated to the right. This ratio value is unitless. In at least one example, longitudinal portion 11160 has a diameter (D) of 0.316 inches and a torque arm length (TA) of 0.154 inches, resulting in a ratio value of 2.06, for example. A smaller value for this ratio indicates a more efficient joint system. In various cases, the value of this ratio is less than 2.0, such as between 1.0 and 2.0. In at least one example, the ratio value is, for example, 2.0-3.0. For example, the ratio value may be less than 3.38.

Further to the above, outer tube 11110 of shaft 11100 includes a longitudinal portion 11160 and an enlarged distal end 11170 (Fig. 80). Referring again to FIG. 40, the entire articulation lock 11400 is positioned on the longitudinal portion 11160 rather than the enlarged distal end 11170. As shown in FIG. However, embodiments are envisioned in which at least a portion of articulation lock 11400 is disposed at enlarged distal end 11170 . In at least one such example, the articulation lock 11400 is attached to the shaft frame such that the distal end 11402 of the articulation lock 11400 is at the enlarged distal end 11170 of the outer tube 11110 . In certain examples, the articulation lock 11400 is repositioned such that the movable end of the articulation lock 11400 is positioned at the enlarged distal end 11170 of the outer tube 11110 . In various cases, the entirety of articulation lock 11400 is positioned at enlarged distal end 11170 .

46, surgical instrument 14000 comprises an articulation drive system including a shaft 14100, an end effector 11500, and an articulation drive actuator 14310 configured to articulate the end effector 11500. As shown in FIG. Shaft 14100 includes an articulation locking system configured to selectively lock articulation drive actuator 14310 and end effector 14500 in place. The articulation lock system comprises an articulation lock 14400 including proximal and distal ends attached to a frame 14180 of shaft 14100 . In at least one respect, articulation lock 14400 includes a beam that is fixed and/or simply supported at both ends. The articulation lock 14400 further comprises an intermediate portion 14404 disposed in a cavity 14184 defined in the shaft frame 14180, the shaft frame laterally toward and away from the articulation drive actuator 14310 of the articulation drive system 14300. configured to move in the direction Similar to above, the articulation lock 14400 has one or more spring portions 14403 configured to allow the articulation lock 14400 to flex toward and away from the articulation drive actuator 14310. Prepare.

Further to the above, intermediate portion 14404 of articulation lock 14400 includes one or more teeth 14406 defined thereon configured to engage articulation drive actuator 14310 . Teeth 14406 are arranged in a longitudinal array. However, any suitable arrangement may be used. Articulation drive actuator 14310 includes a longitudinal array of teeth 14316 defined thereon configured to be engaged by articulation locking teeth 14406 . The articulation locking system further comprises a locking plate 14420 slidably disposed within the shaft cavity 14184 including a longitudinal array of teeth 14226 configured to be engaged by the articulation locking teeth 14406. . As described in more detail below, when articulation lock 14400 is in the fully locked state, articulation lock tooth 14406 engages drive actuator tooth 14316 and lock plate tooth 14226 such that articulation lock 14400 engages articulation drive actuator 14310. Lock in place to prevent or at least inhibit relative motion between articulation drive actuator 14310 and shaft frame 14180 .

Lock plate 14420 includes a shoulder 14424 that is positioned below articulation drive actuator 14310 . Lock plate teeth 14426 are defined on the lateral edges of shoulder 14424 and are substantially aligned with teeth 14316 defined on articulation drive actuator 14310 . In at least one example, the articulation drive actuator tooth 14316 is aligned along a first tooth axis and the lock plate tooth 14406 is aligned along a second tooth axis parallel or at least substantially parallel to the first tooth axis. defined by In various examples, drive actuator tooth 14316 is defined in a plane parallel to the plane containing lock plate tooth 14406 . Such a configuration allows articulation lock 14400 to engage locking plate 14420 and articulation drive actuator 14310 simultaneously. The first tooth axis and the second tooth axis are parallel to the longitudinal axis of the shaft 14100, but the first tooth axis and the second tooth axis are oblique or transverse to the longitudinal axis of the shaft 14100. Embodiments that are directional are envisioned.

Referring again to FIG. 46, locking plate 14420 is longitudinally slidable within cavity 14184 . However, longitudinal movement of locking plate 14420 is restricted by proximal and distal end walls 14427 . As a result, locking plate 14420 can enter within shaft cavity 14184 between end walls 14427 . In various examples, lock plate tooth 14426 may not be perfectly aligned with drive actuator tooth 14316 when articulation lock 14400 engages teeth 14426 and 14316 . In such a case, locking plate 14420 may be moved longitudinally to some extent such that locking plate teeth 14426 are aligned with drive actuator teeth 14316 . In various examples, locking plate 14420 can move in response to locking forces applied thereto by articulation lock 14400 . In at least one example, the locking plate 14420 can be moved one tooth pitch distance distally and one tooth pitch distance proximally relative to its center position, e.g. It is the distance between the peaks of the locking teeth 14426. In other examples, the locking plate 14420 can be moved 1/4 tooth pitch distance distally and 1/4 tooth pitch distance proximal to its center position, for example. In various examples, the locking plate 14420 can move proximally and distally more than two tooth pitch distances.

In addition to the above, the articulation lock 14400 is configurable in three states: self-locking, unlocking, and fully locking. Teeth 14406 of articulation lock 14400 engage drive actuator teeth 14316 and shaft frame teeth 14186 when articulation lock 14400 is in the self-locking state. In such cases, articulation lock 14400 can resist forces transmitted through articulation drive actuator 14310 . However, proximal and/or distal movement of articulation drive actuator 14310 can overcome the retaining force of articulation lock 14400 and displace articulation lock 14400 to its unlocked configuration. In such cases, the articulation lock 14400 may flex or flex laterally away from the drive actuator 14310 to allow the end effector 11500 to articulate. Similar to the above, the spring member 14403 of the articulation lock 14400 can resiliently return or at least bias the articulation lock 14400 to its self-locking configuration. As a result, the articulation drive system can lock and unlock itself as a result of its movement, unless it is placed in its fully locked position, as described below.

Similarly, shaft 14100 of surgical instrument 14000 includes a closure tube that advances distally during the closure stroke to close end effector 11500 . Prior to the closing stroke, articulation lock 14400 is moveable between its self-locking and unlocking configurations, allowing end effector 11500 to be articulated by an articulation drive system. During the closing stroke, the closure tube is configured to engage the articulation lock 14400 and position, block, and/or retain the articulation lock 14400 in its fully locked configuration. More specifically, the closure tube engages a cam surface 14405 defined on the back of the articulation lock 14400 to prevent the articulation lock tooth 14406 from dislodging from the drive actuator tooth 14316 and the shaft frame tooth 14186. Includes configured cam 14118 . Cam 14118 includes an angled surface 14115 that engages a corresponding angled surface defined on cam surface 14405, although any suitable configuration can be used. When the closure tube is retracted proximally to allow the end effector 11500 to open, the tabs 14118 are unlocked from the articulation lock 14400 and the articulation lock 14400 is in a self-locking position and an unlocking position as described above. Since it is free to move between positions, the end effector 11500 can be re-articulated.

Once the articulation lock 14400 has been moved to the fully locked configuration by the closure tube, referring again to FIG. In effect, the articulation lock 14400 engages the locking plate 14420 with sufficient force to pin the locking plate 14420 to the sidewall 14183 so that the locking plate 14420 cannot move longitudinally relative to the shaft frame 14180. , or at least substantially immobile. The locking plate 14420 includes one or more protrusions 14422 extending therefrom that dig into, bite and/or flex the side walls 14183 of the shaft cavity 14184 when the locking plate 14420 is pressed against the side walls 14183 . and is configured to prevent, or at least reduce the likelihood of longitudinal movement of locking plate 14420 relative to shaft frame 14180 .

In addition to the above, shaft frame 14180 includes one or more cavities or openings defined therein configured to allow and/or facilitate deflection of sidewall 14183 . For example, as shown in FIG. 46, shaft frame 14180 includes cavity 14182 defined therein, cavity 14182 aligned, or at least substantially aligned, with protrusion 14422 . As described above, when locking plate 14420 is laterally displaced by the closure tube, side walls 14183 are resiliently displaced into cavity 14182 and locking plate 14420 is locked in place. In such a case, engagement between shaft frame 14180 and locking plate 14420 prevents longitudinal movement of articulation drive actuator 14310 and locks end effector 11500 in place. When the obturator tube is retracted and disengaged from the articulation lock 14400, the side wall 14183 returns to its unflexed condition allowing the locking plate 14420 to laterally displace. At such point, the locking plate 14420 is unlocked and the end effector 11500 can be articulated as outlined above.

Surgical instrument 15000 is shown in FIGS. 47-49 and is similar in many respects to surgical instrument 14000, most of which are not repeated here for the sake of brevity. Among other things, surgical instrument 15000 comprises an articulation drive system including a shaft, end effector 11500 and articulation drive actuator 14310 . Surgical instrument 15000 further comprises a joint locking system including joint lock 15400 movable between a self-locking position, an unlocked position, and a fully locked position, similar to that described above. The articulation locking system further comprises a locking plate 15420 similar in many respects to locking plate 14420 . For example, locking plate 15420 may be laterally moveable to engage wall 14183 . Also, for example, the locking plate 15420 may be longitudinally displaced such that the array of teeth 15426 defined on the locking plate 15420 are in the proper locking position to mate with the teeth 14406 of the articulation lock 15400, as shown in FIG. It is movable. Thus, the shaft of surgical instrument 15000 includes a distal spring 15429 located intermediate locking plate 15420 and a distal end wall 15427 defined in the shaft frame, and a proximal spring defined in locking plate 15420 and the shaft frame. and a proximal spring 15429 located intermediate the proximal end wall 15427 . Springs 15429 are configured to center locking plate 15420 between end walls 15427 or in a counterbalanced position, which is shown in FIG. Such a centered position creates a proximal gap (PG) and a distal gap (DG) between end wall 15427 and locking plate 15420 that are equal, or at least substantially equal, to each other. Therefore, the spring 15429 may experience different deflections or loads when the lock plate 15420 is positioned to mesh with the articulation lock 15400, as shown in FIG. may create.

Surgical instrument 16000 is shown in FIGS. 50-52 and is similar in many respects to surgical instruments 14000 and 15000, most of which are not repeated here for the sake of brevity. Among other things, surgical instrument 16000 comprises an articulation drive system including a shaft, end effector 11500 and articulation drive 16310 . Referring to FIG. 50, surgical instrument 16000 further comprises a joint locking system including joint lock 16400, which, like above, can be configured in self-locking, unlocking, and fully locking configurations. The articulation locking system further comprises a locking plate 16420 similar in many respects to locking plate 14420 . For example, as shown in FIG. 51, locking plate 16420 can be laterally moveable to engage wall 14183 . Also, for example, the locking plate 16420 is longitudinally moveable such that the teeth 16426 of the locking plate 16420 engage the teeth 16406 of the articulation lock 16400 into a proper locking position, as shown in FIG. Further, teeth 16406 of articulation lock 16400, teeth 16426 of locking plate 16420, and locking teeth 16316 of articulation drive 16310 are configured and arranged to provide multiple positions or permutations of positions, wherein articulation lock 16400 , the articulation drive 16310 can be locked to the locking plate 16420 . For example, the articulation locking system reaches a fully locked configuration in one set of positions shown in FIG. 51 and a fully locked configuration in a different set of positions shown in FIG.

The above flexibility of the articulation locking system can be achieved through the tooth pitch of the articulation locking teeth 16406, articulation drive teeth 16316, and locking plate teeth 16426. For example, referring primarily to FIG. 50, joint lock teeth 16406 are set at a first pitch 16407, joint drive teeth 16316 are set at a second pitch 16317, and lock plate teeth 16426 are set at a third pitch. The pitch is set to 16427. the first pitch is different from the second pitch and the third pitch, the second pitch is different from the first pitch and the third pitch, and the third pitch is the first pitch and the second pitch , the embodiment assumes that the first pitch, the second pitch, and the third pitch are two the same. Referring again to FIG. 50, the third pitch 16427 of the lock plate teeth 16426 is greater than the second pitch 16317 of the joint drive teeth 16316, the second pitch 16317 being equal to the first pitch of the joint lock teeth 16406. Any suitable configuration can be used, although larger than 16407.

Surgical instrument 17000 is shown in FIGS. 53-56 and is similar in many respects to surgical instrument 11000, most of which are not repeated here for the sake of brevity. The surgical instrument 17000 includes a shaft, an end effector 11500 rotatably connected to the shaft about an articulation joint 11200, and a joint configured to articulate the end effector 11500 about the articulation joint 11200. and a motion drive system. Similar to above, the articulation drive system includes an articulation link 17320 rotatably attached to jaws 11600 about pin 11620 and an articulation drive rotatably attached to articulation link 17320 about pin 17315. 17310. Surgical instrument 17000 further comprises an articulation lock 17400 movably attached to the shaft frame of surgical instrument 17000 and movable between unlocked and locked positions. The articulation lock 17400 includes a distal end 17402 fixedly attached to the shaft frame and a proximal end 17404 slidably attached to the shaft frame. More specifically, the shaft frame includes pins extending into openings defined in the distal end 17402 of the articulation lock 17400 and guide projections 17114 extending into elongated openings defined in the proximal end 17404 . In certain examples, the shaft frame includes two or more pins that extend into openings defined in the distal end 17402 of the articulation lock 17400 to secure the distal end 17402 to the shaft frame such that the distal end 17402 It can be prevented from rotating with respect to the shaft frame. As a result of the above, at least the proximal end 17404 of the articulation lock 17400 is movable relative to the shaft frame and engages the articulation drive 17310 to lock the articulation system and end effector 11500 in place.

In addition to the above, articulation drive 17310 includes a longitudinal rack of teeth 17316 defined thereon and articulation lock 17400 includes a longitudinal rack of teeth 17406 defined thereon. When the articulation lock 17400 is in its unlocked position, as shown in FIGS. In such cases, articulation drive 17310 is free to move relative to articulation lock 17400 to articulate end effector 11500 . When the articulation lock 17400 is in the partially locked position, as shown in FIG. 55, the articulation lock tooth 17406 is partially engaged with the articulation drive tooth 17316 . In such cases, proximal and distal movement of articulation drive 17310 is prevented by articulation lock 17400 . However, articulation drive 17310 can still move relative to articulation lock 17400 to articulate end effector 11500 . When the articulation lock 17400 is in the fully locked position as shown in FIG. 56, the articulation lock tooth 17406 is fully engaged with the articulation drive tooth 17316 . In such cases, proximal and distal motion of articulation drive 17310 and articulation of end effector 11500 are prevented by articulation lock 17400 .

In addition to the above, surgical instrument 17000 does not include a biasing member other than closure member or tube 17110 configured to move articulation lock 17400 toward articulation drive 17310 . The closure tube 17110 is configured to engage the articulation lock 17400 and move the articulation lock 17400 from its unlocked position (FIG. 54) to its partially locked position (FIG. 55) and fully locked position (FIG. 56). . Similar to the above, the closure tube 17110 includes cams 17118 configured to engage camming surfaces defined on the articulation lock 17400, although other configurations can be used. The closure tube 17110 is articulated locked 17400 between its unlocked position and its partially locked position as the closure tube 17110 moves distally through a partial closure stroke (PCS) that at least partially closes the end effector 11500 . configured to move the In such cases, the end effector 11500 of the surgical instrument 17000 can be used to grasp patient tissue, for example. The closure tube 17110 is configured to move the articulation lock 17400 to its fully locked position when the closure tube 17110 moves distally through a fully closed stroke (FCS) that fully closes the end effector 11500 . In such cases, the end effector 11500 of the surgical instrument 17000 can be used, for example, to completely clamp the patient's tissue.

As discussed above, the locking force applied to articulation drive 17310 by articulation lock 17400 increases as obturator tube 17110 is advanced distally. Stated another way, the joint locking force is a function of the closure tube 17110 stroke. In addition to the above, referring to FIG. 57, the locking force between articulation drive 17310 and articulation lock 17400 is represented by line 17101 . As shown in FIG. 57, the joint lock tooth 17406 comes into first engagement with the joint drive tooth 17316 during the partial closure stroke. In at least one example, such initial engagement of teeth 17406 and 17316 occurs after a closing stroke of closure tube 17110 of approximately 0.050 inches, although any suitable distance may be used. In particular, such initial engagement of teeth 17406 and 17316 does not necessarily coincide with the end of the partial closing stroke. Rather, a partial closed stroke (PCS) may occur at some point. It also occurs at some point during the full closed stroke (FCS). However, such initial engagement does not involve a combination of locking forces. Instead, the locking force combination between teeth 17406 and 17316 is established only during the full closing stroke (FCS). In at least one example, the full closed stroke (FCS) length is, for example, about 0.260 inches.

Surgical instrument 18000 is shown in FIGS. 58-60 and is similar in many respects to surgical instruments 11000 and 17000, most of which are not repeated here for the sake of brevity. Surgical instrument 18000 comprises a shaft, an end effector 11500 rotatably connected to the shaft about an articulation joint, and an articulation system configured to articulate the end effector 11500 . The shaft comprises a frame 18180 including first and second longitudinal racks of teeth 18186 that are parallel or at least substantially parallel to each other, although the racks of teeth 18186 can extend transversely to each other. Surgical instrument 18000 further comprises an articulation lock 18400 and a closure member including cam 18118 . The articulation lock 18400 has a first locking arm 18410 configured to engage a first longitudinal rack of teeth 18186 and a second locking arm 18410 configured to engage a second longitudinal rack of teeth 18186 . 2 locking arms 18420; 59 and 60, the first locking arm 18410 has a first cam surface 18415 defined thereon and the second locking arm 18420 has a second camming surface 18420 defined thereon. Cam surfaces 18425 are provided which are configured to contact the cam 18118 during the closing stroke of the closure member and deflect or flex outward into full locked engagement with the longitudinal rack of teeth 18186. be. Additionally, one or both of locking arms 18410 and 18420 may also be used to lock end effector 11500 in place when locking arms 18410 and 18420 are displaced outwardly into engagement with shaft frame 18180. to engage the articulation system.

Once displaced or bent into the fully locked state, locking arms 18410 and 18420 define a longitudinal slot 18430 therebetween configured to allow passage of cam 18118, for example, during the remainder of the closing stroke. Further, in such a case, the cam 18118 pushes the articulation lock 18400 into engagement with the frame 18180 and firmly holds the lock arms 18410 and 18420 in their fully locked position.

In at least one alternative embodiment, further to the above, the first locking arm 18410 of the articulation lock 18400 is configured to engage the shaft frame 18180 of the surgical instrument 18000 and the second locking arm 18410 of the articulation lock 18400 is configured to engage the shaft frame 18180 of the surgical instrument 18000. Arm 18420 may be configured to engage an articulation system of surgical instrument 18000 .

Surgical instrument 19000 is shown in FIGS. 61-65 and is similar in many respects to surgical instrument 11000, most of which are not repeated here for the sake of brevity. The surgical instrument 19000 includes a shaft 19100 including a closure member 19110, an end effector 11500 rotatably connected to the shaft 19100 about an articulation joint 11200, and articulating the end effector 11500 about the articulation joint 11200. and an articulation drive system 19300 including an articulation drive 19310 configured to allow the articulation to occur. Referring primarily to FIG. 61, surgical instrument 19000 further comprises articulation lock 19400 configured to selectively engage articulation drive system 19300 and lock end effector 11500 in place. Shaft 19100 further comprises a frame 19180 to which articulation lock 19400 is movably mounted between an unlocked position (FIG. 61), a partially locked position (FIG. 63), and a locked position (FIG. 64). As will be described in more detail below, the articulation lock 19400 is laterally moveable toward the articulation drive 19310 to bring the articulation lock 19400 into close proximity with the articulation drive 19310 (FIG. 63) and also to move the articulation drive. It is caused to interfere with the portion 19310 in the lateral direction (Fig. 64).

In addition to the above, shaft frame 19180 includes proximal guidepost 19182 and distal guidepost 19184 . A proximal guide post 19182 extends into a transversely elongated slot defined in the proximal end 19402 of the articulation lock 19400 and similarly a distal guide post 19184 extends transversely defined in the distal end 19404 of the articulation lock 19400. It extends into an elongated slot. The laterally elongate slot allows lateral movement of the articulation lock 19400 toward and away from the articulation drive 19310 as outlined above. The laterally elongate slot also defines a lateral path for the articulation lock 19400 and prevents, or at least substantially prevents, longitudinal movement of the articulation lock 19400 relative to the shaft frame 19180 . As a result, the elongate slot of the articulation lock 19400 is in an unlocked position (FIG. 61) in which the locking teeth 19406 of the articulation lock 19400 do not engage the longitudinal racks of teeth 19316 defined on the articulation drive 19310, such that the locking teeth 19406 The articulation lock 19400 can be guided between a partially locked position (FIG. 63) where the teeth 19316 are partially engaged, and a fully locked position (FIG. 64) where the locking teeth 19406 are fully engaged with the teeth 19316. .

In addition to the above, the articulation lock 19400 further comprises a longitudinal cam slot 19408 defined therein and the closure member 19110 comprises a cam pin 19188 disposed in the cam slot 19408. When the closure member 19110 is in the unactuated or open position ( FIG. 61 ), the cam pin 19188 is positioned in the proximal portion 19408 a of the cam slot 19408 . As the closure member 19110 is moved distally to a partially actuated or partially closed position as shown in FIG. In such a case, cam pin 19188 displaces articulation lock 19400 towards articulation drive 19310 . However, in such cases, the teeth 19406 of the articulation lock 19400 may not engage the teeth 19316 of the articulation drive 19310 , resulting in the articulation drive 19310 articulating the end effector 11500 relative to the shaft 19100 . can still be moved to As a result, the end effector 11500 can articulate only when the closure stroke of the closure member 19110 is partially completed.

As the closure member 19110 is moved further distally as shown in FIG. 63, the cam pin 19188 is moved into the distal portion 19408c of the cam slot 19408. In such a case, the cam pin 19188 displaces the articulation lock 19400 into close proximity with the articulation drive 19310 and into partial engagement with the teeth 19316 of the articulation drive 19310 . Therefore, such partial engagement between teeth 19406 and 19316 can only withstand a certain amount of force transmitted through joint drive 19310, such resistance being overcome and the joint The drive 19310 can be moved relative to the articulation lock 19400 to articulate the end effector 11500 .

In addition to the above, the articulation lock 19400 is not laterally lifted or lowered relative to the shaft frame 19180 during the partial closing stroke of the closure member 19110 (FIGS. 61-63). Rather, the articulation lock 19400 is such that the teeth 19406 of the articulation lock 19400 fully engage the teeth 19316 of the articulation drive 19310 during the final or final portion of the closing stroke of the closure member 19110, as shown in FIG. It is lifted upwards to lock the articulation drive 19310 in place. The articulation lock 19400 is moved upward by a different cam pin extending from the closure member 19110, ie, cam pin 19189 that engages the articulation lock 19400 at the end of the closing stroke of the closure member 19110. In particular, cam pin 19189 does not engage articulation lock 19400 at the beginning of the closing stroke or during the partial closing stroke of closure member 19110 . At best, the cam pin 19189 may be in sliding contact with the bottom of the articulation lock 19400 during the partial closing stroke. Thus, referring primarily to FIG. 65, the articulation lock 19400 includes a notch or recess 19409 defined therein to provide clearance between the cam pin 19189 and the articulation lock 19400 during the partial closing stroke. That is, when the cam pin 19189 reaches the end of the recess 19409, the cam pin 19189 contacts the articulation lock 19400 and drives the articulation lock 19400 laterally upward, causing the locking teeth 19406 to articulate as shown in FIG. Interferingly engaging teeth 19316 of portion 19310, articulation lock 19400 is placed in the fully locked position. At such point, articulation drive 19310 is locked in place and cannot be moved longitudinally to articulate end effector 11500 .

Referring again to FIG. 65, teeth 19316 of articulation drive 19310 are angled or canted with respect to the longitudinal axis of shaft 19100 . Lock teeth 19406 of articulation lock 19400 are either non-angled or angled in a different orientation than teeth 19316 . As a result, when the articulation lock 19400 is in its lowered position (Fig. 63), the locking teeth 19406 of the articulation lock 19400 can partially engage the teeth 19316 of the articulation drive 19310, allowing the articulation lock 19400 to be in its raised position. At some point (FIG. 64), teeth 19316 can be fully engaged.

Unlocking the articulation system 19300 of the surgical instrument 19000 requires retracting the closure member 19110 to disengage the cam pin 19189 from the articulation lock 19400 so that the articulation lock 19400 can return to its lowered position. There is When the cam pin 19189 is disengaged from the articulation lock 19400, the proximal retraction of the cam pin 19188 can drive the articulation lock 19400 downward when the cam pin 19188 is pulled proximally through the cam slot 19408. . Additionally, the cam pin 19188 can displace the articulation lock 19400 away from the articulation drive 19310 when pulled proximally. In various embodiments, the shaft 19110 includes one or more springs, for example, springs configured to bias or push the articulation lock 19400 downward to quickly reset the articulation lock to the unlocked position. A biasing member may be provided.

Surgical instrument 20000 is shown in FIGS. 66-68 and is similar in many respects to surgical instruments 11000, 17000, 18000 and 19000, most of which are repeated here for the sake of brevity. do not have. Surgical instrument 20000 includes a shaft including closure tube 20110, an end effector 11500 rotatably mounted to the shaft about articulation joint 11200, and end effector 11500 about articulation joint 11200 relative to the shaft. an articulation system configured to articulate. Similar to the above, the articulation system comprises an articulation link 20320 rotatably pinned to the end effector 11500 and also an articulation actuator 20310 rotatably pinned to the articulation link 20320 . In use, articulation actuator 20310 is moved proximally and/or distally to drive articulation link 20320 and articulate end effector 11500 . Surgical instrument 20000 further includes an articulation locking system that includes articulation locking gear 20400 rotatably mounted to the frame of the shaft about a fixed axis. Articulation lock gear 20400 comprises an annular array of teeth 20406 that meshingly engages a longitudinal array of teeth 20316 defined on articulation actuator 20310 . As a result, referring generally to FIG. 66, articulation locking gear 20400 is pushed proximally and/or to articulation actuator 20310 until articulation locking gear 20400 is locked in place by closure tube 20110, as shown in FIG. or rotate in response to distal motion.

In addition to the above, the articulation locking system extends from the shaft frame to a central opening defined in the articulation locking gear 20400, and the closure tube 20110 is moved distally during the closing stroke to close the end effector 11500. 20405 , the cam or wedge 20118 of the closure tube 20110 is configured to engage the locking arm 20405 and open the locking arm 20405 outwardly to engage the articulation locking gear 20400 . When locking arm 20405 engages articulation locking gear 20400 , locking arm 20405 can prevent rotation of articulation locking gear 20400 and longitudinal movement of articulation actuator 20310 . In such a case, the locking arms 20405 may be retracted into the end effector 11500 until the wedges 20118 of the closure tube 20110 are retracted proximally during the opening stroke and the locking arms 20405 resiliently return to their unbent or unlocked configuration. articulation can be prevented or at least substantially prevented.

In addition to the above, the articulation system of surgical instrument 20000 can be arranged in an unlocked configuration (FIG. 66), a partially locked configuration (FIG. 67), and a fully locked configuration (FIG. 68). The articulation system may be placed in its partially locked configuration (FIG. 67) as the obturator tube 20110 is advanced distally through a partial closed stroke (PCS). In such a case, end effector 11500 is at least partially closed, but can articulate even though locking arm 20405 is partially engaged with articulation locking gear 20400 . More specifically, articulation locking gear 20400 is still able to rotate despite the drag created by the partial engagement of locking arm 20405 with articulation locking gear 20400 . In at least one example, for example, PCS is about. 050 inches. The articulation system can be placed in its fully locked configuration (FIG. 68) as the closure tube 20110 is advanced distally through the fully closed stroke (FCS). In such cases, the end effector 11500 cannot be articulated until it is fully closed and the articulation system returns to its partially locked and/or unlocked configuration.

Surgical instrument 21000 is shown in FIGS. 69-71 and is similar in many respects to surgical instruments 11000, 17000, 18000, 19000 and 20000, but most of which are described here for the sake of brevity. Let's not repeat. Surgical instrument 21000 includes a shaft including closure member 21110, an end effector 11500 rotatably mounted to the shaft about articulation joint 11200, and end effector 11500 about articulation joint 11200 relative to the shaft. an articulation system including an articulation actuator 21130 configured to articulate. Surgical instrument 21000 further includes an articulation locking system that includes articulation locking gear 21400 rotatably mounted to the frame of the shaft about a fixed axis. Articulation lock gear 21400 includes an annular array of teeth 21406 that meshingly engages a longitudinal array of teeth 21316 defined on articulation actuator 21310 . As a result, referring to FIG. 69, articulation lock gear 21400 is locked into position by articulation actuator 21310 until articulation lock gear 21400 is locked in place by closure member 21110 (FIG. 71), as will be described in more detail below. rotate in response to proximal and/or distal longitudinal movement of the .

In addition to the above, the joint locking system of surgical instrument 21000 further comprises a movable locking element 21405 slidably mounted on the shaft frame. More specifically, referring primarily to FIG. 69, locking element 21405 is configured to allow locking element 21405 to slide laterally toward and/or away from articulation drive 21310. It includes a guide projection 21402 extending into a laterally elongated slot 21403 defined in the configured shaft frame. Still referring to FIG. 70, locking element 21405 slides laterally within an opening defined in articulation locking gear 21400 between an unlocked position (FIG. 69) and a locked position (FIG. 71). The locking element 21405 comprises an annular array of locking teeth 21407 and the articulation locking gear 21400 comprises an annular array of locking teeth 21408 defined around its inner opening when the locking element 21405 is in its unlocked position. ( FIG. 69 ), lock tooth 21407 of lock element 21405 is not engaged with lock tooth 21408 of articulation lock gear 21400 . When the locking element 21405 is in its locked position (FIG. 71), the locking tooth 21407 of the locking element 21405 engages the locking tooth 21408 of the articulation locking gear 21400 and the articulation locking gear 21400 cannot rotate so that the articulation Motion actuator 21300 is prevented from being moved longitudinally to articulate end effector 11500 .

69-71 illustrate distal advancement of the closure member 21110 during the closure stroke. FIG. 69 shows closure member 21110 in an unactuated or open position. In such position, closure member 21110 does not engage locking element 21405 . 70 shows the closure member 21110 in a partially closed position, with the closure member 21110 at least partially closing the end effector 11500. FIG. In such position, cam surface 21115 of closure member 21110 engages locking element 21405 . In at least one example, the closure member 21110 moves distally about 0.050 inches from its open position (FIG. 69) to its partially closed position (FIG. 70). 71 shows the closure member 21110 in a fully closed position with the closure member 21110 fully closing the end effector 11500. FIG. In such position, the cam surface 21115 is displaced by the locking element 21405 and the locking element 21405 is displaced by the full thickness of the closure member 21110 .

In view of the above, a surgical instrument is articulated to prevent an end effector of the surgical instrument from being articulated and/or unintentionally back driven by a load or torque applied to the end effector. It can include a locking system. At least a portion of the articulation locking system is movable into engagement with the articulation drive system of the surgical instrument to prevent articulation of the end effector. In at least one example, the articulation lock can be integrated with an articulation drive system, as described in more detail below.

72-74, surgical instrument 22000 includes a shaft and an articulation drive system 22300 configured to articulate an end effector, such as end effector 11500 of surgical instrument 22000, relative to the shaft. and Articulation drive system 22300 comprises articulation drive 22310 and pinion gear 22320 . Articulation drive 22310 includes a longitudinal rack of teeth 22316 defined thereon that operatively mesh with teeth 22326 of pinion gear 22320 . Distal translation of articulation drive 22310 rotates pinion gear 22320 in a first direction. Similarly, proximal translation of articulation drive 22310 causes pinion gear 22320 to rotate in a second direction. Pinion gear 22320 has a bevel gear 22330 fixedly attached thereto that rotates with pinion gear 22320 about a common axis of rotation. The combination pinion gear 22320 and bevel gear 22330 assembly is rotatably mounted within the shaft of surgical instrument 22000 .

Further to the above, teeth 22336 of bevel gear 22330 meshingly engage teeth 22346 of bevel gear 22340 rotatably mounted about rotatable threaded articulation lead screw 22350 . More specifically, bevel gear 22340 includes a nut portion that includes an at least partially threaded opening that threadably engages articulation lead screw 22350 . When bevel gear 22340 is rotated in a first direction by articulation drive 22310 via bevel gear 22330, bevel gear 22340 rotates articulation lead screw 22350 in a first direction. Similarly, when bevel gear 22340 rotates in a second direction, bevel gear 22340 rotates articulation lead screw 22350 in a second direction. Further, rotation of the articulation lead screw 22350 in its first direction rotates the end effector 11500 in a first direction and corresponding rotation of the threaded articulation drive shaft 22350 in its second direction. , rotate in a second direction.

In addition to the above, the thread pitch of the threaded articulation lead screw 22350 can be selected to prevent back-driving within the articulation drive system 22300 . Stated another way, the steepness of the threads defined in the articulation lead screw 22350 resist forces and/or torques transmitted proximally from the end effector 11500 through the articulation drive system 22300. thus preventing the end effector 11500 from being unintentionally articulated. As such, the thread pitch can act as an articulation lock integral with the articulation drive system 22300 . In at least one example, the articulation lead screw includes, for example, an ACME lead screw.

75-79, surgical instrument 23000 includes a shaft and an articulation drive system 23300 configured to articulate an end effector, such as end effector 11500 of surgical instrument 23000, relative to the shaft. and Articulation drive system 23300 comprises articulation drive 23310 and pinion gear 23320 . Articulation drive 23310 includes a longitudinal rack of teeth 23316 defined thereon that operatively mesh with teeth 23326 of pinion gear 23320 . Distal translation of articulation drive 23310 rotates pinion gear 23320 in a first direction. Similarly, proximal translation of articulation drive 23310 causes pinion gear 23320 to rotate in a second direction. Pinion gear 23320 has a worm gear 23330 fixedly attached thereto, which rotates with pinion gear 23320 about a common axis of rotation. The combined pinion gear 23320 and worm gear 23330 assembly is rotatably mounted within the shaft of surgical instrument 23000 .

Further to the above, teeth 23336 of worm gear 23330 meshingly engage teeth 23346 of worm 23340 rotatably mounted on the shaft frame. Worm 23340 has a pinion gear 23350 fixedly attached thereto, which rotates with worm 23340 about a common axis of rotation. Pinion gear 23350 is in operable engagement with translatable articulation output driver 23360 . More specifically, pinion gear 23350 includes teeth 23356 that meshingly engage a rack of teeth 23366 defined on output driver 23360 . As worm 23340 is rotated in a first direction by articulation drive 23310 via worm gear 23330, pinion gear 23350 drives output driver 23360 distally. Correspondingly, when worm 23340 is rotated in a second direction by worm gear 23330, worm 23340 and pinion gear 23350 drive output driver 23360 proximally. Further, the end effector 11500 rotates in a first direction when the output driver 23350 is driven distally by the articulation drive system 23330 and in a second direction when the output driver 23350 is driven proximally by the articulation drive system 23330 . rotate in the direction of

In addition to the above, the thread pitch of worm 23340 can be selected to prevent back-driving within articulation drive system 23300 . Stated another way, the steepness of the threads defined in the worm 23340 can resist forces and/or torques transmitted proximally from the end effector 11500 via the articulation drive system 23300, for example. , the end effector 11500 can be prevented from being unintentionally articulated. As such, the thread pitch can act as an articulation lock integral with the articulation drive system 23300 .

Surgical instrument 12000 shown in FIGS. 32-34B is similar in some respects to surgical instrument 11000, many of which are not repeated here for the sake of brevity. In addition to shaft 11100 , end effector 11500 , and articulation joint 11200 , surgical instrument 12000 further comprises staple firing system 12900 including firing bar 12910 extending through articulation joint 11200 , for example. In use, the firing bar 12910 is distally translatable to perform a staple firing stroke and proximally retractable after at least a portion of the staple firing stroke is completed. Firing bar 12910 extends through a groove member or slot 11190 defined in frame 11180 of shaft 11100 that closely holds firing bar 12910 as firing bar 12910 moves relative to shaft 11100 . configured to receive and/or guide. Similarly, the end effector 11500 includes a groove member or slot 11590 defined within the frame 11580 of the end effector 11500 that urges the firing bar 12910 as the firing bar 12910 moves relative to the end effector 11500 . is configured to closely receive and/or guide the

In addition to the above, channel members 11190 and 11590 may not extend into articulation joint 11200 and firing bar 12910 may not be supported within articulation joint 11200 . When the end effector 11500 is in the non-articulated configuration (FIG. 34), the firing bar 12910 is less likely to buckle within the articulation joint 11120 during the staple firing stroke, but the end effector 11500 is in the articulated configuration. If so, the likelihood of firing bar 12910 laterally buckling during the staple firing stroke increases (FIGS. 34A and 34B). To reduce the likelihood of such buckling, surgical instrument 12000 further comprises a firing bar support 12400 configured to support firing bar 12910 . Firing bar support 12400 includes a proximal portion 12410 connected to shaft frame 11180, a distal portion 12430 connected to end effector frame 11580, and an intermediate portion 12420 extending between proximal portion 12410 and distal portion 12430. including. Portions 12410, 12420, and 12430 of firing bar support 12400 are integrally formed. However, other embodiments are envisioned in which portions 12410, 12420, and 12430 are assembled together and/or include separate components.

Further to the above, the distal portion 12430 of the firing bar support 12400 is fixedly attached to the end effector frame 11580 and does not move, or at least not substantially move, relative to the end effector frame 11580 . The intermediate portion 12420 of the firing bar support 12400 has one or two reduced cross-sections that allow the firing bar support 12400 to flex within the articulation joint 11200, among other things, when the end effector 11500 articulates. Contains one or more parts. A proximal portion 12410 of firing bar support 12400 is slidably mounted to shaft frame 11180 such that firing bar support 12400 can translate relative to shaft frame 11180 as end effector 11500 articulates. That is, the proximal portion 12410 of the firing bar support 12400 has a proximal head 12415 slidable within a chamber or cavity 11185 defined within the shaft frame 11180 that can limit movement of the firing bar support 12400. include. However, embodiments without such movement restrictions are envisioned. In any event, the proximal portion 12410, the intermediate portion 12420, and the distal portion 12430 of the firing bar support 12400 cooperatively define a channel member or slot 12490, which is particularly useful at the articulation joints. Supports firing bar 12910 within 11200 and is configured to reduce the likelihood of firing bar 12910 buckling during, for example, a staple firing stroke.

In various examples, the firing bar 12910 is constructed from multiple parallel or at least substantially parallel layers. These layers are secured to the distal cutting member and can partially translate or slide longitudinally relative to each other, particularly within the articulation joint 11200 . Each such layer is configured to transmit load in the same direction, ie proximally or distally, even though such layers can move or slide relative to each other. In addition to the above, such layers may spread laterally relative to each other, especially within the articulation joint 11200 when the end effector 11500 is articulated. The middle portion 12420 of the firing bar support 12400 includes a plurality of connected control elements that can at least reduce, if not prevent, the relative lateral spread of the firing bar layers. Alternatively, as noted above, one or more of the control elements may not be connected together.

In addition to or in place of firing bar support 12400 , surgical instrument 12000 includes one or more dividers that separate and control layers of firing bar 12910 . 34-34B, shaft 11110 includes partitions 12920 disposed within the layers of firing bar 12910. Referring to FIGS. Two layers of firing bars 12910 are positioned on one side of divider 12920 and two layers are positioned on the other side of divider 12920, although any suitable arrangement can be used. Partition 12920 prevents half of the layers of firing bar 12910 from splaying outward when end effector 11500 is articulated. Stated another way, divider 12920 prevents the rightmost two firing bar layers from splaying to the left when end effector 11500 articulates to the right (FIG. 34A); When the end effector 11500 articulates to the left, it prevents the leftmost two firing bar layers from splaying to the right (FIG. 34B). Partition 12920 extends into end effector 11500 through articulation joint 11200 and firing bar support 12400 and can flex when end effector 11500 articulates. Thus, in such cases the partition 12920 is flexible. Partition 12920 is attached to frame 11180 of shaft 11110 and does not move relative to frame 11180 . However, embodiments are envisioned in which the partition 12920 is not attached to the frame 11180 and can float within the firing bar layer.

Surgical instrument 13000 shown in FIGS. 35-39B is similar in some respects to surgical instruments 11000 and 12000, many of which are not repeated here for the sake of brevity. In addition to shaft 13100, end effector 13500, and articulation joint 11200, surgical instrument 13000 further comprises a staple firing system 12900 including a firing bar 12910 extending through articulation joint 11200, for example. In use, the firing bar 12910 is distally translatable to perform a staple firing stroke and proximally retractable after at least a portion of the staple firing stroke is completed. 39-39B, firing bar 12910 extends through a channel member or slot 13190 defined in frame 13180 of shaft 13100, which allows firing bar 12910 to shaft 11100. It is configured to closely receive and/or guide the firing bar 12190 as it moves. Similarly, the end effector 13500 includes a channel member or slot defined within the frame 13580 of the end effector 13500 that guides the firing bar 12190 as the firing bar 12910 moves relative to the end effector 13500. configured to closely receive and/or guide.

When the end effector 13500 is in the non-articulated configuration (FIG. 39), in addition to the above, the firing bar 12910 is less likely to buckle within the articulation joint 11120 during the staple firing stroke, but the end effector 13500 can be articulated. When in the moving configuration, the likelihood of firing bar 12910 laterally buckling during the staple firing stroke is increased (FIGS. 39A and 39B). To reduce the likelihood of such buckling, surgical instrument 13000 further comprises a firing bar support 13400 configured to support firing bar 12190 . Firing bar support 13400 comprises a first side plate 13410 and a second side plate 13420 . Side plates 13410 and 13420 are positioned on opposite sides of firing bar 12910 . Each side plate 13410, 13420 includes a proximal portion connected to the shaft frame 13180, a distal portion connected to the end effector frame 13580, and an intermediate portion extending between the proximal and distal portions. Portions of each plate 13410, 13420 are integrally formed. However, other embodiments are envisioned in which the parts are assembled together and/or include separate components.

In addition to the above, the first side plate 13410 includes a distal portion 13416 that is fixedly attached to the end effector frame 13580 and does not move, or at least substantially not move, relative to the end effector frame 13580. . Similarly, the second side plate 13420 includes a distal portion 13426 that is fixedly attached to the end effector frame 13580 and does not move, or at least not substantially move, relative to the end effector frame 13580 . The first side plate 13410 includes a proximal portion 13412 slidably attached to the shaft frame 13180 such that the first side plate 13410 can translate relative to the shaft frame 13180 when the end effector 13500 is articulated. Proximal portion 13412 includes a head that is slidable within a chamber or cavity 13185 defined within shaft frame 13180 that can limit movement of firing bar support 13400 . Similarly, the second side plate 13420 has a proximal portion 13422 slidably attached to the shaft frame 13180 such that the firing bar support 13400 can translate relative to the shaft frame 13180 as the end effector 13500 articulates. Prepare. The proximal portion 13422 includes a head slidable within a chamber 13185 defined within the shaft frame 13180, which can also limit movement of the firing bar support 13400.

The first side plate 13410 includes a flexible portion 13414 located within the articulation joint 11200 such that the distal portion 13416 of the first side plate 13410 flexes relative to the proximal portion 13412 to allow the end effector 13500 to flex. It becomes possible to adapt to the joint motion of A flexible portion 13414 extends laterally from the first side plate 13410 and includes a hinge including a gap 13413 defined therein to allow rotation within the first side plate 13410 . Additionally or alternatively, the first side plate 13410 includes a longitudinal opening 13415 defined therein that allows the first side plate 13410 to bend within the end effector 13500 and to articulate the end effector 13500. Make it compatible with exercise. The first side plate 13410 can include any suitable number and configuration of openings and/or recesses defined at any suitable locations defined therein, which during articulation of the end effector 13500 Additionally, the first side plate 13410 is configured to allow bending. Similarly, the second side plate 13412 includes a flexible portion 13424 located within the articulation joint 11200 such that the distal portion 13426 of the second side plate 13420 flexes relative to the proximal portion 13422, Articulation of the end effector 13500 can be accommodated. Flexible portion 13424 extends laterally from first side plate 13420 and includes a hinge that includes a gap defined in the hinge that allows rotation within second side plate 13420 . Additionally or alternatively, the second side plate 13420 includes a longitudinal opening defined therein that allows the second side plate 13420 to bend within the end effector 13500 to facilitate articulation of the end effector 13500 . to be able to respond to The second side plate 13420 can include any suitable number and configuration of openings and/or recesses defined at any suitable locations defined therein, which during articulation of the end effector 13500 Additionally, the second side plate 13420 is configured to allow bending.

In addition to the above, side plates 13410 and 13420 are flexible and can resiliently return to their unflexed configuration when end effector 13500 is returned to its unarticulated configuration. In various examples, side plates 13410 and 13420 include springs that resiliently bias end effector 13500 into its non-articulated configuration.

Firing member 24900 is shown in FIGS. 83 and 84 and may be used with any of the surgical stapling instruments disclosed herein. Firing member 24900 includes a firing bar 24910 that includes multiple layers, similar to that described above. More specifically, firing bar 24910 includes two outer layers 24911 and two inner layers 24912 . Firing member 24900 further comprises a distal cutting member 24920 including tissue cutting edge 24926 . The distal cutting member 24920 has a first cam 24922 configured to engage a first jaw of the end effector and a second cam configured to engage a second jaw of the end effector. 24924. That is, embodiments are envisioned in which the distal cutting member 24920 is configured not to engage only one jaw of the end effector, or alternatively none of the jaws of the end effector.

Layers 24911 and 24912 of firing bar 24910 are welded to distal cutting member 24920 at weld 24930 . A first weld 24930 is present on a first side of the firing member 24900 and a second weld 24930 is present on a second side of the firing member 24900, as shown in FIG. A first weld 24930 penetrates the first outer layer 24911 and the adjacent inner layer 24912 . In various examples, the first weld 24930 completely penetrates the adjacent inner layer 24912 and/or also penetrates other inner layers 24912 . A second weld 24930 penetrates through the second outer layer 24911 and the adjacent inner layer 24912 . In various examples, the second weld 24930 completely penetrates the adjacent inner layer 24912 and/or penetrates other inner layers 24912 as well.

Referring primarily to FIG. 83, each weld 24930 of firing member 24900 is a weld configured to securely hold firing bar 24910 to cutting member 24920 and at the same time provide a flexible connection therebetween. Including lines. Each weld 24930 includes a butt weld 24931 that connects the cutting member 24920 to the distal ends of the plates 24911 and 24912 and is tensioned and/or compressed when a longitudinal firing force is transmitted through the firing member 24900. become a state. The butt weld is orthogonal, or at least substantially orthogonal, to the longitudinal firing axis (FA) of firing member 24900 . Butt weld 24931 may be square, closed square, single bevel, double bevel, single J, double J, single V, double V, single U, double U, flange, flare, and/or tee. may include any suitable configuration, such as configuration.

In addition to the above, each weld 24930 further comprises a distal hook weld 24932 and a proximal hook weld 24933. Each hook weld 24932 and 24933 is aligned or parallel to the longitudinal firing axis (FA) of firing member 24900 and is placed in shear when longitudinal firing forces are transmitted through firing member 24900. Including a longitudinal section. Additionally, each hook weld 24932 and 24933 includes a butt portion that is orthogonal, or at least substantially orthogonal, to the longitudinal firing axis (FA), and longitudinal firing forces are transmitted through firing member 24900. and are in tension and/or compression. In particular, each set of hook welds 24932 and 24933 includes an interlocking connection between firing bar 24910 and cutting member 24920 that can transmit stress flow therebetween, resulting in failure and/or inappropriate never.

Each weld 24930 is, for example, generally L-shaped. However, weld 24930 may include any suitable configuration.

Surgical instruments 10000, 11000, 12000, 13000, 14000, 15000, 16000, 17000, 18000, 19000, 20000, 21000, 22000, and 23000 are surgical staplers whose design, among other Easily adaptable to other surgical instruments with effectors. Such other surgical instruments may include, for example, clip appliers, fastener appliers, and/or surgical instruments capable of delivering electrical and/or vibrational energy to tissue.

FIG. 86 depicts a surgical staple cartridge 25100 with an elongated nose 25150, generally indicated as 25102, located at its distal end. Elongated nose 25150 has a base 25152 defined by a first length 25154 that extends the distance between the end of staple line 25056 and distal tip 25142 of staple cartridge 25100 . Distal tip 25142 is formed at an angle σ from base 25152 of staple cartridge 25100 . The distal tip 25142 of staple cartridge 25100 is pointed and configured to serve as a waiting area for a wedge sled (not shown) of the firing system upon completion of a staple firing stroke.

In an effort to shorten the overall length of the staple cartridge without sacrificing the length of the tissue being stapled, the surgical staple cartridge 25200 shown in FIG. a cartridge body 25210 that includes a nose 25250 that is curved. The shortened nose 25250 has a base 25252 defined by a second length 25254 that extends the distance between the end of the staple line 25056 and the blunt distal tip 25242 of the staple cartridge 25200 . The second length 25254 of the shortened nose 25250 is minimized by blunting the waiting area of the wedge sled 25270 (see FIG. 89). Because the rounded shortened nose 25250 of the staple cartridge 25200 of FIG. 85 still provides a waiting area for the wedge threads, additional storage may be required for storage, as described below. be. A blunt distal tip 25242 is formed at an angle γ from the base 25252 of staple cartridge 25200 .

Comparing staple cartridges 25200 and 25100 shown in FIGS. 85 and 86, the reader should be aware that second length 25254 is shorter than first length 25154 . As a result, the length of staple cartridge 25200 beyond the end of staple line 25056 is minimized to allow, among other things, improved spatial access within the surgical site. The shortened nose 25250 also prevents the blunt distal tip 25242 from puncturing the seal on the trocar system, as discussed further below. Further, it will be appreciated that the angle γ of the blunt distal tip 25242 of staple cartridge 25200 relative to base 25252 is greater than the angle σ of the sharpened distal tip 25142 of staple cartridge 25100 relative to base 25152 . For example, the blunt distal tip 25242 can extend at an angle of about 45-50 degrees relative to the base 25252 of the staple cartridge 25200, and the sharp distal tip 25142 can extend relative to the base 25152 of the staple cartridge 25100. It can extend at an angle of about 30 degrees. The steeper angle of the blunt distal tip 25242 provides increased stability throughout the distal region of the staple cartridge 25200 structure.

89 is a plan view of staple cartridge 25200. FIG. Cartridge body 25210 of staple cartridge 25200 includes elongated slot 25230 extending from proximal end 25204 of staple cartridge 25200 toward distal shortened nose 25250 . A plurality of staple cavities 25220 are formed within the cartridge body 25210 . Staple cavities 25220 extend between proximal end 25204 and distal end 25202 of staple cartridge 25200 . The staple cavities 25220 are arranged in six laterally spaced longitudinal rows 25221 , 25222 , 25223 , 25224 , 25225 , 25226 , with three rows on each side of the elongate slot 25230 . Staples 25260 are removably disposed within staple cavities 25220 .

FIG. 87 shows one embodiment of a triple staple driver 25240 within staple cartridge 25200 for supporting and driving three staples 25260. FIG. Staple driver 25240 includes first driver portion 25342 , second driver portion 25344 , and third driver portion 25346 . A central base member 25348 connects the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344 . First driver portion 25342 is disposed at least partially distal to second driver portion 25344 . Additionally, the third driver portion 25346 is positioned at least partially distal to the second driver portion 25344 . A plurality of first staple drivers 25240 are slidably mounted within corresponding staple cavities 25220 from three longitudinal rows 25221 , 25222 , 25223 on either side of the elongated slots 25230 . In other words, each first staple driver 25240 is configured to support three staples 25260, the staples 25260 stored within the staple cavities 25220 of the first longitudinal row 25221 and the Staples 25260 stored within staple cavities 25220 of 25222 and staples 25260 stored within staple cavities 25220 of third longitudinal row 25223 . The distal position of first driver portion 25342 and third driver portion 25346 relative to second driver portion 25344 causes staples 25260 to be fired in a reverse arrow configuration. As shown in FIG. 89, the last staples 25260 of the first longitudinal row 25221 and the third longitudinal row 25223 are shorter in the staple cartridge 25200 than the last staples 25260 of the second longitudinal row 25222. Close to Nose 25250.

Opposite the elongated slots 25230, a plurality of second staple drivers are mounted within corresponding staple cavities 25220 of the three longitudinal rows 25224,25225,25226. Similar to staple driver 25240, the second staple drivers each include a first driver portion 25342, a second driver portion 25344, and a third driver portion 25346. A central base member 25348 connects the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344 . First driver portion 25342 is disposed at least partially distal to second driver portion 25344 . Additionally, the third driver portion 25346 is positioned at least partially distal to the second driver portion 25344 . Like the staple drivers 25240 described above, each second staple driver is configured to support three staples 25260, stored within the staple cavities 25220 of the fourth longitudinal row 25224; Staples 25260 stored within staple cavities 25220 of longitudinal row 25225 and staples 25260 stored within staple cavities 25220 of sixth longitudinal row 25226 . Due to the distal position of first driver portion 25342 and third driver portion 25346 relative to second driver portion 25344, staples 25260 are fired in a reverse arrow configuration. As shown in FIG. 89, the last staples 25260 of the fourth longitudinal row 25224 and the sixth longitudinal row 25226 are shorter in the staple cartridge 25200 than the last staples 25260 of the fifth longitudinal row 25225. Close to Nose 25250.

The first driver portion 25342 of the staple driver 25240 has a first front strut 25352 and a first rear strut 25354 projecting upwardly from the first driver portion base. A first anterior strut 25352 and a first posterior strut 25354 are spaced apart from each other to collectively form a first staple cradle (i.e., staple projections facing the anvil) for supporting staples 25260 in an upright position. to form. Similarly, the second driver portion 25344 has a second forward strut 25362 and a second rearward strut 25364 projecting upwardly from the second driver portion base. A second anterior strut 25362 and a second posterior strut 25364 are spaced apart from each other to collectively form a second staple cradle (i.e., staple projections facing the anvil) for supporting the staples 25260 in an upright position. to form. The third driver portion 25346 has a third forward strut 25372 and a third rearward strut 25374 projecting upwardly from the third driver portion base. A third anterior strut 25372 and a third posterior strut 25374 are spaced apart from each other to collectively form a third staple cradle (i.e., staple projections facing the anvil) for supporting the staples 25260 in an upright position. to form.

The center of gravity of the first and third driver portions 25342, 25346 is represented by the dashed line DD. Similarly, dashed line PP represents the center of mass of second driver portion 25344 . The combined center of mass of triple staple driver 25240 is represented as dashed line CC in FIGS. In this manner, the staple driver 25240 is less likely to roll forward. In particular, since CC is closer to DD than PP, staple driver 25240 is very stable.

As discussed above, the central base member 25348 of the staple driver 25240 shown in FIG. 88 attaches the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344. The central base member 25348 connects the proximal ends of the first and third rear struts 25354, 25374 of the first and third driver portions 25342, 25346, respectively, and the second forward strut 25362 of the second driver portion 25344. extends laterally between the proximal ends. As shown in FIG. 90, central base member 25348 has an angled, rearward facing edge 25349 adapted to be engaged by wedge sled 25270, as discussed in greater detail below. The extension of the central base member 25348 between all three driver portions 25342, 25344, 25346 causes the midpoint of the rearward facing edge 25349 to be positioned closer to the first portion 25342 and closer to the third portion 25346. It may branch. Such a configuration can balance the moments that occur during the firing and formation of staples 25260 stored within staple cavities 25220 .

Referring primarily to FIG. 89, each staple cavity 25220 defined in cartridge body 25210 of staple cartridge 25200 comprises a proximal wall 25264 and a distal wall 25262. As shown in FIG. The direction of the reverse arrows formed by the configuration of the first, second, and third driver portions 25342, 25344, 25346 of the triple staple driver 25240 described above indicates forward and/or sideways movement of the staple driver 25240 during the staple firing stroke. Reduces directional rolling. In various examples, the distal end of the first anterior strut 25352 and the distal end of the third anterior strut 25372 are wedged into the distal wall 25262 of the respective staple cavity 25220, thereby stabilizing the driver 25240. be done. Thus, when the sled 25270 (FIG. 89) lifts the staple driver 25240 upward during the staple firing stroke, the two distal walls 25262 of the staple cavity 25220 provide opposing forces against the forward struts 25352, 25372 to Prevents unwanted movement or rolling of the driver 25240.

Elongated slots 25230 of staple cartridge 25200 are configured to receive a portion of firing assembly 25280, as shown in FIGS. 87-90. Firing assembly 25280 is configured to push sled 25270 distally to eject staples 25260 stored within staple cavities 25220 and deform staples 25260 against an anvil disposed on the opposite side of staple cartridge 25200. be. More specifically, coupling member 25282 pushes wedge thread 25270 of staple cartridge 25200 distally. Wedge sled 25270 comprises four rails, two inner rails 25272 and two outer rails 25274 connected together by central member 25276 . One inner rail 25272 and one outer rail 25274 are positioned on one side of the elongated slot 25230 and another inner rail 25272 and another outer rail 26274 are positioned on the opposite side of the elongated slot 25230 . When driven distally, the inner rail 25272 passes through an inner groove 25212 defined in the cartridge body 25210 and engages the rearwardly facing edge 25349 of the driver 25240 supporting the staples 25260 to push the staples into the anvil. fire towards. Similarly, outer rails 25274 pass through outer grooves 25214 defined in cartridge body 25210 and engage portions of driver 25240 that support staples 25260 to push the staples toward the anvil. Distal movement of wedge sled 25270 causes rails 25272, 25274 to contact rearwardly facing edge 25349 of staple driver 25240 and push driver 25240 upward to move staples 25260 from staple cartridge 25200 to the opposing anvil. Drain into tissues caught in between. Coupling member 25282 also includes a cutting end 25284 that dissects tissue as coupling member 25282 is advanced distally to eject staples 25260 from cartridge body 25210 .

Referring again to FIG. 87, the positioning of the first, second, and third driver portions 25342, 25344, 25346 of the staple driver 25240 between or adjacent the inner rail 25272 and outer rail 25274 of the wedge sled 25270 can be laterally increase the stability of Two rails, one inner rail 25272 and one outer rail 25274, span the staple driver 25240 to provide increased support and stability throughout the firing stroke. In addition to increasing the stability of the staple driver 25240, another advantage of having the staple driver 25240 span the two rails 25272, 25274 of the wedge sled 25270 is that the force required to execute the firing stroke is reduced. be. Less force is required due to less deflection and losses in the system. Additionally, the additional drive surface provided by the rear facing edge 25349 allows the rails 25272, 25274 of the wedge sled 25270 to extend from the base 25278 of the wedge sled 25270 at a steeper angle. The steeper angle of wedge sled 25270 allows for an overall reduction in the length of base 25278 of wedge sled 25270 and further contributes to the reduced length of shortened nose 25250 of staple cartridge 25200 . 89, wedge sled 25270 of firing assembly 25280 rests within shortened nose 25250 of staple cartridge 25200 upon completion of the staple firing stroke.

FIG. 89 shows wedge sled 25270 of firing assembly 25280 resting on shortened nose 25250 upon completion of the staple firing stroke. The shortened nose 25250 includes a plurality of openings 25292,25294 at the distal end of the shortened nose 25250 to receive four rails 25272,25274. The shortened nose 25250 further comprises an opening 25296 configured to receive the central sled member 25276 of the wedge sled 25270 . Accordingly, portions of rails 25272 , 25274 and central thread member 25276 of wedge sled 25270 are exposed at distal end 25202 of staple cartridge 25200 . Apertures 25292, 25294 are a series of channel members 25212, 25214 in which rails 25272, 25274 of wedge sled 25270 slidably move. Two inner openings 25292 are configured to receive two inner rails 25272 of wedge sled 25270 and two outer openings 25294 are configured to receive two outer rails 25274 of wedge sled 25270 . A central opening 25296 in the center of distal portion 25202 of shortened nose 25250 is configured to receive central member 25276 of wedge sled 25270 . Openings 25292, 25294, 25296 in the distal end 25202 of the shortened nose 25250 allow the staple firing stroke to be completed and the wedge sled 25270 to be clipped to the shortened distal end.

Referring again to FIG. 89, staple cartridge 25200 further includes protrusions 25262 that extend around the proximal and distal ends of staple cavities 25220 . The projections 25262 of the first longitudinal row 25221 are shown to be single and the projections of the second and third longitudinal rows 25222, 25223 are shown to be connected. Protrusions 25262 are configured to provide additional support to staples 25260 as staples are fired upwardly from staple cavities 25220 . Additionally, the protrusions 25264 formed in the distal-most staple cavity 25220 are angled to control tissue flow to the end effector. A more detailed discussion of protrusions can be found in U.S. Patent Application Publication No. 2015/0297228, entitled "FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS," filed Jun. 30, 2014, the entire disclosure of which is incorporated by reference. be done.

FIG. 91 illustrates some of the advantages obtained by using the shortened staple cartridge 25200 from FIG. 85 instead of the elongated staple cartridge 25100 from FIG. Both staple cartridges are suitable for various surgical procedures such as, for example, low anterior resection (LAR). LAR is a common treatment for colon cancer, for example. Such surgery requires precise dissection and sealing of tissue deep within the patient's pelvic cavity. As will be described in more detail below, the shortened nose 25250 of FIG. 85 reduces the length of the staple cartridge 25200 and, among other things, allows the end effector of the surgical instrument to reach tissue within the pelvic cavity with greater force. allow access. The reader should understand that the staple cartridges described herein can be used for a variety of surgical procedures and are not limited to the specific procedures described herein.

In addition to the above, short staple cartridge 25200 is part of first end effector 25202 on first surgical instrument 25201 which also includes anvil 25203 . First surgical instrument 25201 further comprises a first shaft 25206 rotatably connected to first end effector 25202 . The first end effector 25202 is articulatable about an articulation joint 25208 located intermediate the first end effector 25202 and the first shaft 25206 . The first end effector 25202 can articulate at an angle α with respect to the first shaft 25206 . Similarly, elongated staple cartridge 25100 is part of second end effector 25102 on second surgical instrument 25101 that also includes anvil 25103 . Also, the second surgical instrument 25101 further comprises a second shaft 25106 rotatably connected to the second end effector 25102 . The second end effector 25102 is articulatable about an articulation joint 25108 located intermediate the second end effector 25102 and the second shaft 25106 . A second end effector 25102 can articulate at an angle β with respect to a second shaft 25106 .

Further to the above, in use, the clinician inserts the end effector 25202 into the patient through a cannula or trocar while the end effector 25202 is in a non-articulated state. Once through the trocar, the end effector 25202 can articulate as shown in FIG. At such time, the shaft 25206 can be moved to position the end effector 25202 within the pelvic cavity. A similar procedure is used to position the end effector 25102 .

The _first end effector 25202 can reach a distance X1 from the pelvic floor in the pelvic cavity during a LAR procedure. A _second end effector 25102 can reach a distance X2 from the pelvic floor in the pelvic cavity during a LAR procedure. Distance X1 is shorter _than distance X2, allowing _first surgical instrument 25201 to be placed deeper into the pelvic cavity than second surgical instrument 25101, allowing the surgeon to, among other things, locate diseased tissue in the large intestine. More arrays can be targeted, accessed and removed. Additionally, the articulation capabilities of first surgical instrument 25201 allow deeper access to tissue within the surgical site while causing minimal trauma to surrounding tissue. Since β is greater than α, the first end effector 25202 can articulate more than the second end effector 25102. For example, the first end effector 25202 can articulate at an angle of 115 degrees from the first shaft 25206 and the second end effector 25102 articulates at an angle of 135 degrees from the second shaft 25106. Just

As shown in FIG. 91, the staple cartridge 25100 and anvil 25103 of the end effector 25102 have approximately the same length, although the staple cartridge 25100 is significantly longer than the anvil 25103. By comparison, staple cartridge 25200 and anvil 25203 of end effector 25202 are substantially the same, if not the same length. In any event, the length difference, if any, between the staple cartridge 25200 and the anvil 25203 of the end effector 25202 is much smaller than the end effector 25102.

A drastic difference between the distal end of the staple cartridge and the distal end of the anvil can result in damage to the trocar when the end effector is inserted through the trocar. Referring to FIG. 92, the end effector 25810 comprises a distal end 25802, an anvil 25820 and a staple cartridge 25830. Staple cartridge 25830 has a blunt, shortened nose 25840 similar to shortened nose 25250 on staple cartridge 25200 of FIG. As seen in FIGS. 92 and 93, the anvil 25820 has a protective tip 25822 thereon. Protective tip 25822 is sized and positioned on anvil 25820 in such a manner that anvil 25820 is shorter in length than staple cartridge 25830 . Accordingly, shortened nose 25840 of staple cartridge 25830 extends distally to anvil 25820 . The protective tip 25822 may be integrally formed (molded, machined, etc.) into the distal end 25802 of the anvil 25820 or may include a separate component configured to receive a complementary portion of the anvil. A more extensive discussion of protective tips can be found in U.S. Patent Application Publication No. 2008/0169328, entitled "IMPROVED BUTTRESS MATERIAL FOR USE WITH A SURGICAL STAPLER," the entire disclosure of which is incorporated herein by reference. can.

As seen in FIGS. 92 and 93, the protective tip 25822 of the anvil 25820 has a first curved or beveled outer surface 25824 configured to form a stubby distal end on the anvil 25820 and a second outer surface 25824 . It has a curved or slanted outer surface 25826 . A first angled outer surface 25824 extends downwardly from a top surface 25828 of anvil 25820 at a first angle φ. A second angled outer surface 25826 extends downwardly from the first angled outer surface 25824 toward the staple cartridge 25830 at a second angle θ. The second angle θ is greater than the first angle φ. For example, various embodiments are envisioned in which the angle θ is approximately 90 degrees. Other embodiments of protective tip 25822 are envisioned to have only one of first angled outer surface 25824 or second angled outer surface 25826 . The first angled outer surface 25824 serves to deflect the centering ring of the trocar seal assembly during insertion of the end effector 25810 through the trocar. is further away from 90 degrees and/or if the first and second curved outer surfaces 25824, 25826 are discontinuous, the anvil 25820 will prevent the trocar seal from forming, as will be described in greater detail below. It can penetrate or displace the centering ring of the trocar seal system.

The protective tip can be attached to the anvil in any suitable manner. Figures 94-99 illustrate exemplary embodiments of separately formed protective tips 25922, 26022 and various methods for attaching them to the anvil. As shown in FIGS. 94-96, the distal portion of the anvil 25920 includes mounting members 25927, 25929 configured to retainably engage complementary retention grooves 25926, 25928 formed in the protective tip 25922. with mounting features including: More specifically, a central retention groove 25928 is formed in protective tip 25922 to receive central mounting member 25929 of anvil 25920 . A pair of side retaining grooves 25296 are formed in protective tip 25922 for receiving a pair of corresponding side mounting members 25927 on anvil 25920 . 96 is a cross-sectional view of anvil 25920 of FIG. 94 taken along line 96-96 of FIG. 95 in an exploded configuration showing alignment of retaining grooves 25926, 25928 with respective mounting members 25927, 25929. FIG. An elongated slot 25994 extends longitudinally from the proximal end 25904 of the anvil 25920 toward the distal end 25902 of the anvil 25920 . Elongated slot 25994 is configured to receive a portion of the firing assembly discussed herein.

Additionally or alternatively, rivets 25924 may be used to secure protective tip 25922 to anvil 25920 . As shown in FIG. 96, through hole 25925 extends through central retention groove 25928 of protective tip 25922 . A through hole 25925 also extends through the central mounting member 25929 of the anvil 25920 and aligns the through hole 25925 to facilitate insertion of the rivet 25924 when the protective tip 25922 is attached to the anvil 25920 . 95 is a cross-sectional view of the anvil 25920 of FIG. 94 along line 95-95 of FIG. 94 in exploded configuration showing the rivet assembly for removably securing the protective tip 25922 to the anvil 25920. Additionally or alternatively, protective tip 25922 may be made of adhesive such as, for example, cyanoacrylates, photocurable acrylics, polyurethanes, silicones, epoxies, and/or UV curable adhesives such as HENKEL LOCTITE®. may be secured to the anvil 25920 by . In any event, a combination of mounting members and retaining grooves may be provided in the anvil 25920 and protective tip 25922. Still other forms of attachment and attachment configurations can be used to attach the protective tip 25922 to the anvil 25920.

Figures 97-99 show another embodiment of a tip attachment configuration. A distal portion of anvil 26020 includes a mounting member 26027 configured to retainably engage a complementary retention groove 26026 defined in protective tip 26022 . Additionally, a central retention groove 26028 defined within protective tip 26022 is configured to receive central mounting member 26029 of anvil 26020 . 98 is a cross-sectional view of the anvil 26020 of FIG. 97 taken along line 98-98 of FIG. 97 in an exploded configuration showing alignment of retaining grooves 26026, 26028 with respective mounting members 26027, 26029. FIG. Figure 99 is a cross-sectional view of anvil 26020 of Figure 97 taken along line 99-99 of Figure 97 in an assembled configuration. Protective tip 26022 is secured to anvil 26020 using a compression fit. The central mounting member 26029 is press fit into the central retaining groove 26028 and remains in place due to the geometry of the central retaining groove 26028 . The central mounting member 26029 of the anvil 26020 of FIG. 98 has a trapezoidal shape that is mimicked by the central retaining groove 26028. An elongated slot 26094 extends longitudinally from the proximal end 26004 of the anvil 26020 toward the distal end 26002 of the anvil 26020 . Elongated slot 26094 is configured to receive a portion of the firing assembly discussed herein.

Additionally or alternatively, the protective tip 26022 may be adhesive such as, for example, cyanoacrylates, photocurable acrylics, polyurethanes, silicones, epoxies, and/or UV curable adhesives, such as HENKEL LOCTITE®. It may be secured to the anvil 26020 by an agent. In various embodiments, a combination of mounting members and retaining grooves may be provided in the anvil 26020 and protective tip 26022. Still other forms of attachment and attachment configurations can be used to attach the protective tip 26022 to the anvil 26020. 97-99 further illustrate means for assisting the user in attaching the protective tip 26022 to the anvil 26020. FIG. FIG. 97 shows protective tip 26022 removably positioned within temporary holder 26030 . To releasably attach protective tip 26022 to anvil 26020, the user pushes temporary holder 26030 and anvil 26020 together. Temporary holder 26030 may provide an additional sterility barrier to protected tip 26022 while protected tip 26022 is attached to anvil 26020 . Additionally, the temporary holder 26030 provides the user with a more substantial object to hold while attaching the protective tip 26022 to the anvil 26020 because the protective tip 26022 may be small in size. It is envisioned that the temporary holder 26030 may be used across various embodiments of protective tips, including other embodiments disclosed herein.

Various protective anvil tips are described and illustrated herein as being used in conjunction with linear end effectors. However, the protective anvil tip described herein can be used in conjunction with a variety of different end effector configurations, such as curved end effectors and other types of end effectors, without departing from the spirit and scope of the present disclosure. will be readily understood by those skilled in the art. Accordingly, the protective tips described above should not be limited to use only in connection with linear end effectors and/or staplers.

Figures 100-106 illustrate exemplary practical applications of the various end effectors described herein when inserted through a trocar seal system prior to being introduced to a surgical site. The trocar seal system 27040 of FIGS. 100-106 comprises a housing 27042 configured to support a floating seal assembly 27050 and a central opening 27044 configured to receive a surgical instrument. Floating seal assembly 27050 includes a first shield door 27052 and a second shield door 27054 that work together to prevent gas from escaping from the patient's insufflated body cavity during a surgical procedure. Floating seal assembly 27050 further comprises a centering ring 27058 configured to guide surgical instruments through central opening 27044 of trocar seal system 27040 . Floating seal assembly 27050 is attached to housing 27042 of trocar seal system 27040 via annular resilient member 27056 .

FIG. 100 shows an end effector 27000 comprising an anvil 27010 and staple cartridge 27020. FIG. Staple cartridge 27020 includes a blunt, shortened nose 27022 similar to shortened nose 25250 depicted on staple cartridge 25200 of FIG. The distal end 27202 of anvil 27010 is sharp and does not have a protective tip as shown in FIG. As shown in FIG. 100, the anvil 27010 is shorter in length than the staple cartridge 27020. As shown in FIG. In other words, shortened nose 27022 of staple cartridge 27020 extends longitudinally beyond distal end 27002 of anvil 27010 . Prior to inserting the end effector 27000 through the trocar seal system 27040, the first shield door 27052 and the second shield door 27054 extend inwardly to prevent gas from escaping from the surgical site. FIG. 101 shows the end effector 27000 of FIG. 100 partially inserted into the trocar seal system 27040. FIG. The shortened nose 27022 of the staple cartridge 27020, which is the first component of the end effector 27000, contacts the first and second shield doors 27052, 27054 of the trocar seal system 27040 and tilts the floating seal assembly 27050 to one side. . Due to its rounded shape, the shortened nose 27022 does not damage the second shield door 27054 by applying force.

102 shows the end effector 27000 of FIGS. 100 and 101 as the end effector 27000 is further introduced into the central opening 27044 of the trocar seal system 27040. FIG. After the shortened staple cartridge nose 27022 first contacts the trocar seal system 27040 , the pointed distal end 27002 of the anvil 27010 contacts the first shield door 27052 of the trocar seal system 27040 . In various examples, since contact between the shortened nose 27022 and the second shield door 27054 has already laterally shifted the position of the floating seal assembly 27050, the sharpened distal end 27002 of the anvil 27010 It is possible to breach the first shield door 27052 of the trocar seal system 27040 . As shown in FIG. 103, if the distal end 27002 of the anvil 27010 had a protective tip 27012 similar to the protective tip 25822 shown in FIG. 92, the risk of breaching the first shield door 27052 would have been reduced. deaf. The use of the protective tip 27012 on the anvil 27010 reduces the risk of rupture because the first shield door 27052 extends smoothly around the protective tip 27012 . Additionally, the same cartridge and anvil lengths reduce or prevent pre-shifting of the floating seal assembly.

FIG. 104 depicts an end effector 27100 comprising an anvil 27110 and staple cartridge 27120. FIG. Staple cartridge 27120 includes a pointed elongated nose 27122 similar to elongated nose 25150 depicted in staple cartridge 25100 of FIG. The distal end 27102 of anvil 27110 is pointed and does not have a protective tip as shown in FIG. Anvil 27110 is shorter in length than staple cartridge 27120 . In other words, elongated nose 27122 of staple cartridge 27120 extends longitudinally beyond distal end 27102 of anvil 27110 . Prior to inserting the end effector 27100 through the trocar seal system 27040, the first shield door 27052 and the second shield door 27054 of the trocar seal system 27040 extend inwardly to prevent gas from escaping from the surgical site. 105 shows the end effector 27100 of FIG. 104 when the end effector 27100 is first inserted into the trocar seal system 27040. FIG. The elongated nose 27122 of the staple cartridge 27120 is the first component of the end effector 27100 and contacts the first and second shield doors 27052, 27054 of the trocar seal system 27040 to form the floating seal assembly 27050, as described above. Lean to one side or pre-shift.

106 shows the end effector 27100 of FIGS. 104 and 105 as the end effector 27100 is further introduced into the central opening 27044 of the trocar seal system 27040. FIG. After the initial contact of the elongated nose 27122 of the staple cartridge 27120, the pointed distal end 27102 of the anvil 27110 contacts the first shield door 27052 of the trocar seal system 27040. In various examples, contact between the elongated nose 27122 and the second shield door 27054 displaced the position of the floating seal assembly 27050 such that the pointed distal end 27102 of the anvil 27110 was placed in the first position of the trocar seal system 27040. Shield door 27052 can be ruptured.

As described herein, the first staple cartridge can include a first cartridge length and the second staple cartridge can include a second cartridge length that is different than the first cartridge length. . In various examples, an end effector of a surgical stapling instrument can include cartridge jaws configured to receive a first staple cartridge and, alternatively, a second staple cartridge. Stated another way, the cartridge jaws are configured to receive the first staple cartridge and the second staple cartridge, but not simultaneously. The first staple cartridge and the second staple cartridge each include a proximal end aligned with the proximal cartridge jaw reference surface when positioned within the cartridge jaws. For example, if the length of the first cartridge is greater than the length of the second cartridge, the distal end of the first staple cartridge is further from the proximal cartridge jaw reference plane than the distal end of the second staple cartridge. placed further apart. The reader should understand that the second cartridge length may be longer than the first cartridge length in other cases.

Further to the above, the end effector includes an anvil jaw movable relative to the cartridge jaws between an open or unclamped position and a closed or clamped position. In an alternative embodiment, the cartridge jaws are moveable relative to the anvil jaws. In either case, the anvil jaw includes a distal anvil end supported by a first staple cartridge and a second staple cartridge, depending on which staple cartridges are positioned in the cartridge jaws. The distal anvil end is supported at a first position on the first cartridge jaw and a second position on the second cartridge jaw. In various examples, the first position and the second position may not be the same distance from the proximal cartridge jaw reference plane. However, in some cases they may be the same distance from the proximal cartridge jaw reference. Further, in various examples, the first location is located a first distance from the distal end of the first staple cartridge and the second location is located a first distance from the distal end of the second staple cartridge. located at two or different distances. In use, the patient's tissue is placed between the anvil jaws and the cartridge jaws, yet the supporting position of the staple cartridge still supports the anvil jaws or the clamping load applied by the anvil jaws.

In various cases and in addition to the above, when the end effector is in a clamped configuration and the first staple cartridge is positioned in the cartridge jaws, the distal anvil end extends beyond the distal end of the first staple cartridge. Similarly, when the end effector is in the clamped configuration and the second staple cartridge is positioned in the cartridge jaws, the distal anvil end extends distally of the second staple cartridge. It can extend distally beyond the proximal end. However, in various cases, when the length of the first cartridge is greater than the length of the second cartridge, the distal anvil tip can extend distally beyond the distal end of the second staple cartridge, It cannot extend distally beyond the distal end of the first staple cartridge. In such cases, the anvil jaw is longer than the second staple cartridge when the second staple cartridge is positioned in the cartridge jaws and is longer than the first staple cartridge when the first staple cartridge is positioned in the cartridge jaws. can be shorter. In some examples, the anvil jaw is the same length as the first staple cartridge or the second staple cartridge.

In addition to the above, the anvil jaws flex when moved to the clamping position. Due to the different cartridge lengths of the staple cartridges, the deflection of the anvil jaws may vary depending on which staple cartridge is positioned in the cartridge jaws. As a result, the staple forming gap between the anvil jaw and the staple driver of the first cartridge jaw can be different than the staple forming gap between the anvil jaw and the staple driver of the second cartridge jaw. In some cases, the difference in staple forming gaps is negligible and the staples ejected from the first staple cartridge and the second staple cartridge are formed at the same or at least the proper height and between the anvil jaw and the cartridge jaw. Firmly staple the captured tissue. In such cases, the unformed height of the staples in the first staple cartridge can be the same as the unformed height of the staples in the second staple cartridge. In another example, the unformed height of the staples in the first staple cartridge is different than the unformed height of the staples in the second staple cartridge. In such cases, taller staples may be used in the first staple cartridge, for example, depending on the expected deflection and/or orientation of the anvil jaws when clamped against the first and second staple cartridges. , shorter staples can be used in the second staple cartridge. In at least one such example, each staple in the first staple cartridge has an unformed height in the first unformed height range and each staple in the second staple cartridge has an unformed height in the second has an unformed height in the range of unformed heights of In some cases, the first unformed height range is completely different from the second unformed height range, while in other cases the first unformed height range is different from the second unformed height range. Overlaps the height range.

As described above, the first staple cartridge and the second staple cartridge are selectively positioned in the cartridge jaws of the end effector; additionally, when the staple cartridge is positioned in the cartridge jaws, the cartridge jaws are , a bottom support or surface configured to support the staple cartridge. Such supports can include a vertical reference plane. In various cases, the first support position on the first staple cartridge and the second support position on the second staple cartridge discussed above are the same vertical distance from the vertical reference plane of the cartridge jaws. Vertical distance is measured orthogonally from a vertical reference plane, but can be measured in any suitable manner. In another example, the first support location on the first staple cartridge has a different vertical height than the second support location on the second staple cartridge. In such cases, the orientation and/or deflection of the anvil jaw when it is in its clamping position may be different as a result of the first and second support positions having different vertical heights. Such different vertical heights can occur when the distal end or nose of the first staple cartridge is different than the distal end of the second staple cartridge, among other reasons.

Many of the surgical instrument systems described herein are powered by electric motors. The surgical instrument systems described herein can operate in any suitable manner. In various instances, the surgical instrument systems described herein can be operated by, for example, manually operated triggers. In certain examples, the motors disclosed herein may comprise part of a robotic control system. Additionally, any of the end effectors and/or tool assemblies disclosed herein can be utilized with robotic surgical instrument systems. U.S. patent application Ser. is disclosed in more detail.

The surgical instrument systems described herein have been described in relation to staple deployment and deformation. The embodiments described herein are not so limited. Various embodiments are envisioned that deploy fastening elements other than staples, such as, for example, clamps or tacks. Further, various embodiments are envisioned utilizing any suitable means for sealing tissue. For example, an end effector according to various embodiments may include electrodes configured to heat and seal tissue. Also for example, an end effector according to certain embodiments can apply vibrational energy to seal tissue.

Example 1 - Surgical instrument including an end effector. The end effector includes a cartridge jaw and an anvil jaw, one of which is rotatable relative to the other about a closing axis. The surgical instrument further comprises a shaft comprising a frame defining a longitudinal shaft axis and a closure actuator, the closure actuator being translatable relative to the frame. A closure actuator includes a proximal portion, a distal portion, and a link. A link is rotatably connected to the proximal portion about the proximal link axis and to the distal portion about the distal link axis. The proximal link axis and the distal link axis define a longitudinal link axis therebetween. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable in an articulation plane between a non-articulated position and an articulated position, the articulation axis being offset from the longitudinal shaft axis. The longitudinal link axis is not collinear with the longitudinal shaft axis when the end effector is in either the non-articulated position or the articulated position.

Example 2 - The surgical instrument of Example 1, wherein the proximal link axis is arranged along the longitudinal shaft axis.

[0033] Example 3 - The surgical instrument of Example 1 or 2, wherein the cartridge jaws comprise a staple cartridge containing staples removably stored therein.

Example 4 - The surgical instrument of Example 3, wherein the staple cartridge is replaceable.

[00100] Example 5 - The surgical instrument of Example 3 or 4, further comprising a different firing actuator separate from the closure actuator, the firing actuator being operable to eject the staples from the staple cartridge.

Example 6 - The surgical instrument of Example 3, 4 or 5, wherein the longitudinal link axis is non-parallel to the longitudinal shaft axis when the end effector is in either the non-articulated position or the articulated position.

Example 7 - The surgical instrument of Example 3, 4 or 5, wherein the end effector further comprises a longitudinal end effector axis. The longitudinal end effector axis is collinear with the longitudinal shaft axis when the end effector is in the non-articulated position. The end effector further comprises a distal end disposed along the longitudinal end effector axis, the distal link axis being proximal to the distal end when the end effector is in either the non-articulated position or the articulated position. offset with respect to an axis extending between the position link axis.

Example 8 - Surgical instrument including an end effector. The end effector comprises a longitudinal end effector axis, a distal end disposed along the end effector axis, a cartridge jaw and an anvil jaw, one of the cartridge jaw and anvil jaw being oriented relative to the other about the closure axis. Rotatable. The surgical instrument further comprises a shaft having a frame defining a longitudinal shaft axis and a closure actuator and translatable relative to the frame. A closure actuator includes a proximal portion, a distal portion, and a link. A link is rotatably connected to the proximal portion about the proximal link axis and to the distal portion about the distal link axis. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable in an articulation plane between a non-articulated position and an articulated position, the articulation axis being offset from the longitudinal shaft axis. The longitudinal end effector axis is aligned with the longitudinal shaft axis when the end effector is in the non-articulated position. When the end effector is in either the non-articulated position or the articulated position, the distal link axis is offset with respect to an axis extending between the distal end of the end effector and the proximal link axis.

Example 9 - The surgical instrument of Example 8, wherein the proximal link axis and the distal link axis define a longitudinal link axis. The longitudinal link axis is not collinear with the longitudinal shaft axis when the end effector is in either the unarticulated position or the articulated position.

Example 10 - The surgical instrument of Example 9, wherein the longitudinal link axis is non-parallel to the longitudinal shaft axis when the end effector is in one of the non-articulated position and the articulated position.

Example 11 - The surgical instrument of Example 8, 9 or 10, wherein the proximal link axis is arranged along the longitudinal shaft axis.

[00130] Example 12 - The surgical instrument of Example 8, 9, 10 or 11, wherein the cartridge jaws comprise a staple cartridge containing staples removably stored therein.

Example 13 - The surgical instrument of Example 12, wherein the staple cartridge is replaceable.

[00130] Example 14 - The surgical instrument of Example 12 or 13, further comprising a different firing actuator separate from the closure actuator, the firing actuator being operable to eject the staples from the staple cartridge.

Example 15 - Surgical instrument including an end effector. The end effector comprises a longitudinal end effector axis, a distal end disposed along the end effector axis, a first jaw and a second jaw, one of the first jaw and the second jaw being in an open position. and a closed position relative to the other. The surgical instrument further comprises a shaft having a frame defining a longitudinal shaft axis and a closure actuator and translatable relative to the frame. A closure actuator includes a proximal portion, a distal portion, and a link. A link is rotatably connected to the proximal portion about a proximal link axis and to the distal portion about a distal link axis. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable between a non-articulated position and an articulated position, the articulation axis being transverse to the longitudinal shaft axis. The longitudinal end effector axis is aligned with the longitudinal shaft axis when the end effector is in the non-articulated position. The distal link axis extends between the distal end of the end effector and the proximal link axis when the first jaw is in the open position, the closed position, and any position between the open and closed positions. placed transversely to the

[00130] Example 16 - The surgical instrument of Example 15, wherein the proximal link axis and the distal link axis define a longitudinal link axis. Regardless of whether the end effector is in the non-articulated or articulated position, the longitudinal link axis is not aligned with the longitudinal shaft axis when the first jaw is in the closed position.

Example 17—The longitudinal link axis is not parallel to the longitudinal shaft axis when the first jaw is in the closed position, regardless of whether the end effector is in the non-articulated or articulated position, implemented A surgical instrument according to Example 15 or 16.

Example 18 - The surgical instrument of Examples 15, 16 or 17, wherein the proximal link axis is arranged along the longitudinal shaft axis.

[00130] Example 19 - The surgical instrument of Example 15, 16, 17 or 18, wherein the first jaw comprises a staple cartridge containing staples removably stored therein.

Example 20 - The surgical instrument of Example 19, wherein the staple cartridge is replaceable.

[00130] Example 21 - The surgical instrument of Example 19 or 20, further comprising a different firing actuator separate from the closure actuator, the firing actuator being operable to eject the staples from the staple cartridge.

Example 22 - A surgical instrument including a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: Disposed laterally offset with respect to the longitudinal axis. The surgical instrument further includes an articulation drive coupled to the end effector frame at the attachment position, the articulation drive moving to a proximal position to rotate the end effector to a first fully articulated position and a distal position. position to rotate the end effector to a second fully articulated position. The proximal and distal positions define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. A lateral moment arm is defined between the mounting location and the fixed articulation axis, the lateral moment arm being orthogonal to the longitudinal axis. Surgical instruments are configured to maximize the ratio of lateral moment arm to articulation stroke length.

[00133] Example 23 - The surgical instrument of Example 22, wherein the end effector is positionable in a non-articulated position aligned with the longitudinal axis. As the end effector moves from the non-articulated position to the first fully articulated position, the end effector is moved a first arc length. As the end effector moves from the non-articulated position to the second fully articulated position, the end effector is moved a second arc length.

Example 24 - The surgical instrument of Example 23, wherein the first arc length is equal to the second arc length.

Example 25 - The surgical instrument of Example 23, wherein the first arc length and the second arc length are different.

Example 26 - The surgical instrument of Examples 22, 23, 24 or 25, wherein the ratio is between 1.1 and 1.4.

Example 27—As the end effector moves between the first fully articulated position and the second fully articulated position, the attachment position moves over the articulation arc length, Examples 22, 23, 24, 25 Or the surgical instrument according to 26.

[00133] Example 28 - The surgical instrument of Example 27, configured to maximize an articulation ratio comprising articulation arc length to articulation stroke length.

Example 29 - The surgical instrument of Example 28, wherein the articulation ratio is between 1.2 and 1.7.

[0044] Embodiment 30 - The surgical instrument of embodiment 27, 28 or 29, configured to maximize the ratio comprising the product of articulation arc length and lateral moment arm to articulation stroke length.

Example 31 - The surgical instrument of Example 30, wherein the ratio is between 1 and 3.

Example 32 - The surgical procedure of Example 22, 23, 24, 25, 26, 27, 28, 29, 30, or 31, wherein the end effector further comprises a staple cartridge including staples removably stored therein. equipment.

Example 33 - The surgical instrument of Example 32, wherein the staple cartridge is replaceable.

Example 34 - A surgical instrument including a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: Disposed laterally offset with respect to the longitudinal axis. The surgical instrument further includes an articulation drive coupled to the end effector frame at the mounting location. The articulation drive moves to a proximal position to rotate the end effector to a first fully articulated position and to a distal position to rotate the end effector to a second fully articulated position. The proximal and distal positions define the articulation stroke of the articulation drive. The articulation stroke has an articulation stroke length and a lateral moment arm is defined between the mounting location and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis. The surgical instrument is configured such that the ratio of lateral moment arm to articulation stroke length is greater than one.

Example 35 - The surgical instrument of Example 34, wherein the ratio is between 1.1 and 1.4.

Example 36 - The surgical procedure of Example 34 or 35, wherein the attachment position moves over an articulation arc length as the end effector moves between the first fully articulated position and the second fully articulated position equipment.

[00413] Example 37 - The surgical instrument of Example 36, configured to maximize the articulation ratio comprising articulation arc length to articulation stroke length.

Example 38 - The surgical instrument of Example 37, wherein the articulation ratio is between 1.2 and 1.7.

[0043] 39 - The surgical instrument of 36, configured to maximize the ratio comprising the product of articulation arc length and lateral moment arm to articulation stroke length.

Example 40 - The surgical instrument of Example 39, wherein the articulation ratio is between 1 and 3.

[0042] Example 41 - The surgical instrument of Example 34, 35, 36, 37, 38, 39, or 40, wherein the end effector further comprises a staple cartridge including staples removably stored therein.

Example 42 - The surgical instrument of Example 41, wherein the staple cartridge is replaceable.

Example 43 - A surgical instrument including a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: Disposed laterally offset with respect to the longitudinal axis. The surgical instrument further includes an articulation drive coupled to the end effector frame at the attachment position, the articulation drive moving to a proximal position to rotate the end effector to a first fully articulated position and a distal position. position to rotate the end effector to a second fully articulated position. The proximal and distal positions define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. As the end effector moves between the first fully articulated position and the second fully articulated position, the mounting position moves over the articulation arc length. A lateral moment arm is defined between the mounting location and the fixed articulation axis, the lateral moment arm being orthogonal to the longitudinal axis. The surgical instrument is configured such that the ratio of the product of the lateral moment arm and the articulation arc length to the articulation stroke length is greater than one.

Example 44 - A surgical instrument including a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: Disposed laterally offset with respect to the longitudinal axis. The surgical instrument further includes an articulation drive coupled to the end effector frame at the attachment position, the articulation drive moving to a proximal position to rotate the end effector to a first fully articulated position and a distal position. position to rotate the end effector to a second fully articulated position. The proximal and distal positions define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. A lateral moment arm is defined between the mounting position and the fixed articulation axis. The surgical instrument further includes means for increasing the lateral moment arm while limiting articulation stroke.

Example 45—Comprising a shaft including a proximal end, a distal end, a longitudinal axis extending between the proximal and distal ends, and an outer housing including a shaft radius defined with respect to the longitudinal axis surgical instruments. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: Disposed laterally offset with respect to the longitudinal axis. The surgical instrument further includes an articulation drive coupled to the end effector frame at the attachment location, the articulation drive movable proximally to rotate the end effector in the first direction, and the articulation drive distally. to rotate the end effector in a second direction opposite the first direction. A lateral moment arm is defined between the mounting position and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis and the ratio of shaft radius to lateral moment arm is less than 1.4.

Example 46 - The surgical instrument of Example 45, wherein the ratio is less than 1.3.

Example 47 - The surgical instrument of Example 45, wherein the ratio is less than 1.2.

Example 48 - The surgical instrument of Example 45, wherein the ratio is less than 1.1.

Example 49 - The end effector is rotatable a first distance in a first direction and a second distance in a second direction, wherein the first distance and the second distance are equal, Example 45, A surgical instrument according to 46, 47 or 48.

Example 50 - The end effector is rotatable in a first direction through a first range and in a second direction through a second range, the first and second ranges being unequal, Example 45 , 46, 47 or 48.

[0051] Example 51 - The surgical instrument of Example 45, 46, 47, 48, 49, or 50, further comprising a staple cartridge including staples removably stored therein.

Example 52 - The surgical instrument of Example 51, wherein the staple cartridge is replaceable.

[00103] Embodiment 53 - The surgical instrument of embodiment 45, 46, 47, 48, 49, 50, 51 or 52, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening.

[00103] Example 54 - The surgical instrument of example 53, wherein the shaft includes a shaft frame extending through the inner opening, and the end effector frame is rotatably coupled to the shaft frame.

Embodiment 55—The shaft includes a first longitudinal portion and a second longitudinal portion, and the shaft radius of the outer housing is the first shaft radius in the first longitudinal portion and the second shaft radius in the second longitudinal portion. 55, 46, 47, 48, 49, 50, 51, 52, 53, or 54, wherein the first shaft radius is different than the second shaft radius .

Example 56—Comprising a shaft including a proximal end, a distal end, a longitudinal axis extending between the proximal and distal ends, and an outer housing including a shaft radius defined with respect to the longitudinal axis shaft assembly. The shaft assembly further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis extending longitudinally. It is arranged laterally offset with respect to the direction axis. The shaft assembly further includes an articulation drive coupled to the end effector frame at the mounting location. An articulation drive is movable proximally to rotate the end effector in a first direction, and an articulation drive is movable distally to rotate the end effector in a second direction opposite the first direction. A lateral moment arm is defined between the mounting position and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis and the shaft assembly is configured to minimize the ratio of shaft radius to lateral moment arm.

Example 57 - The shaft assembly of Example 56, wherein the ratio is less than 1.4.

Example 58 - The shaft assembly of Example 56, wherein the ratio is less than 1.1.

[0059] Example 59 - The shaft assembly of example 56, 57 or 58, further comprising a staple cartridge including staples removably stored therein.

Example 60 - The shaft assembly of Example 59, wherein the staple cartridge is replaceable.

Example 61 - The shaft assembly of Example 56, 57, 58, 59 or 60, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening.

Example 62—The shaft assembly of example 56, 57, 58, 59, 60 or 61, wherein the shaft includes a first longitudinal portion and a second longitudinal portion. The outer housing shaft radius includes a first shaft radius in a first longitudinal portion and a second shaft radius in a second longitudinal portion. The first shaft radius is different than the second shaft radius.

Example 63 - A surgical instrument including a shaft including an outer housing including a shaft radius. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining an articulation axis, the articulation axis extending from the shaft. It is positioned laterally offset from the centerline. The surgical instrument further includes an articulation drive coupled to the end effector frame at the mounting location. The articulation drive is movable proximally to rotate the end effector in a first direction to a first fully articulated position, and the articulation drive is movable distally to rotate the end effector in a second direction. fully articulated position. A lateral moment arm is defined between the mounting position and the articulation axis. The lateral moment arm is orthogonal to the centerline of the shaft and the ratio of shaft radius to lateral moment arm is between 1 and 1.4.

Example 64 - Surgical instrument including shaft and end effector. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position, one of the first and second jaws having staples removably stored therein. a staple cartridge containing; The surgical instrument further includes an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further includes an articulation rod operably connected to the end effector. An articulation rod is movable distally to rotate the end effector in a first direction and an articulation rod is movable proximally to rotate the end effector in a second direction. The surgical instrument further comprises a closure tube configured to engage the first jaw during the closing stroke and move the first jaw toward the closed position, the closure tube articulating during the closing stroke. It is slidable on the joint. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during a staple firing stroke and a firing bar attached to the cutting member, the firing bar including a plurality of flexible layers, the firing bar articulating. extending through the joint. The staple firing assembly further includes a support disposed within the flexible layer, the support disposed proximal to the articulation joint. The staple firing system further comprises a plurality of control elements, each control element comprising an opening defined therein. A firing bar extends through the opening. The control element is configured to hold the flexible layers together.

Example 65 - The surgical instrument of example 64, wherein the control element is disposed within the articulation joint.

Example 66 - The surgical instrument of example 64 or 65, wherein the first jaw includes a staple cartridge.

Example 67 - The surgical instrument of Example 64 or 65, wherein the second jaw includes a staple cartridge.

Example 68 - The surgical instrument of Example 64, 65, 66 or 67, wherein the cutting member is welded to the firing bar.

Example 69 - The surgical instrument of example 64, 65, 66, 67 or 68, wherein the control elements are connected to each other.

Example 70 - The surgical instrument of example 64, 65, 66, 67 or 68, wherein the control elements are not connected to each other.

Example 71 - The surgical instrument of example 64, 65, 66, 67, 68, 69 or 70, wherein the control elements are not connected to each other.

[00103] Example 72 - The surgical instrument of example 64, 65, 66, 67, 68, 69, 70, or 71, wherein the articulation joint defines a fixed axis of rotation about which the end effector rotates.

Example 73 - Surgical instrument comprising a shaft defining a longitudinal axis and an end effector. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an unclamped position and a clamped position. The surgical instrument further includes an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further comprises an articulation link operably connected to the end effector, the articulation link is movable distally to rotate the end effector in the first direction, the articulation link is movable proximally to rotate the end effector. Rotate the effector in a second direction. The surgical instrument further comprises a clamping member configured to engage the first jaw during the clamping stroke and move the first jaw toward the clamping position, the clamping member articulating during the clamping stroke. It is slidable with respect to the part. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during a staple firing stroke and a firing member. The firing member comprises a plurality of flexible layers attached to the cutting member, the flexible layers configured to slide longitudinally relative to each other. A firing member extends through the articulation joint. The surgical instrument further comprises control elements, each control element comprising an opening defined therein. A firing bar extends through the opening and the control element is configured to hold the flexible layers together.

Example 74 - The surgical instrument of example 73, wherein the control element is disposed within the articulation joint.

Example 75 - The surgical instrument of Example 73 or 74, wherein the first jaw includes a staple cartridge.

Example 76 - The surgical instrument of Example 73 or 74, wherein the second jaw includes a staple cartridge.

Example 77 - The surgical instrument of Example 73, 74, 75 or 76, wherein the cutting member is welded to the firing bar.

Example 78 - The surgical instrument of example 73, 74, 75, 76 or 77, wherein the control elements are connected to each other.

Example 79 - The surgical instrument of example 73, 74, 75, 76 or 77, wherein the control elements are connected to each other.

[00103] Example 80 - The surgical instrument of example 73, 74, 75, 76, 77, 78 or 79, wherein the shaft comprises a shaft frame and the support is attached to the shaft frame.

Example 81 - Surgical instrument comprising a shaft defining a longitudinal axis and an end effector. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an unclamped position and a clamped position. The surgical instrument further includes an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further includes an articulation link operably connected to the end effector. The articulation link is movable distally to rotate the end effector in a first direction and the articulation link is movable proximally to rotate the end effector in a second direction. The surgical instrument further comprises a clamping member configured to engage the first jaw during the clamping stroke and move the first jaw toward the clamping position. The clamping member is slidable relative to the articulation joint during the clamping stroke. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member and a firing member. A cutting member is movable through the end effector during the staple firing stroke. The firing member comprises a plurality of flexible layers attached to the cutting member, the flexible layers configured to slide longitudinally relative to each other. A firing member extends through the articulation joint. The staple firing assembly further includes a support positioned between the two flexible layers. The staple firing assembly further includes means for limiting lateral displacement between the flexible layers.

Example 82 - The surgical instrument of Example 81, wherein the first jaw includes a staple cartridge.

Example 83 - The surgical instrument of Example 81, wherein the second jaw includes a staple cartridge.

Example 84 - Surgical instrument including shaft and end effector. The end effector includes a proximal end, a distal end and a longitudinal axis extending between the proximal and distal ends, first jaws and second jaws. The first jaw is movable relative to the second jaw between an unclamped position and a clamped position. The surgical instrument further includes an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during a staple firing stroke, the cutting member having a first portion configured to engage the first jaw and a second jaw. and a second portion configured to engage with. The staple firing assembly further comprises a firing member comprising a plurality of flexible layers welded to the cutting member along weld lines. The weld seam includes a longitudinal portion and a lateral portion extending perpendicular to the longitudinal portion.

Example 85 - The surgical instrument of example 84, wherein the first jaw includes a staple cartridge.

Example 86 - The surgical instrument of Example 84, wherein the second jaw includes a staple cartridge.

Example 87 - The surgical instrument of Example 84, 85 or 86, wherein the second jaw includes a staple cartridge.

[00100] Embodiment 88 - The surgical instrument of embodiment 84, 85, 86 or 87, wherein the firing member comprises a first side and a second side, and the weld seam is present on the first side and the second side .

Example 89 - A surgical instrument comprising a shaft including a shaft frame and an end effector. The end effector includes a proximal frame, a distal end, a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an unclamped position and a clamped position. The surgical instrument further includes an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further comprising a staple firing assembly including a cutting member movable through the end effector during a staple firing stroke. The staple firing assembly further comprises a firing member comprising a plurality of flexible layers attached to the cutting member, the firing member extending through the articulation joint. The surgical instrument further includes a lateral spring support positioned adjacent the firing member. A lateral spring support includes a distal end attached to the proximal frame of the end effector. The lateral spring support further includes a proximal end configured to slide relative to the shaft frame.

Example 90 - The surgical instrument of Example 89, wherein the first jaw includes a staple cartridge.

Example 91 - The surgical instrument of Example 89, wherein the second jaw includes a staple cartridge.

[00104] Example 92 - The surgical instrument of Example 89, 90, or 91, wherein the lateral spring support comprises a first lateral spring support disposed along a first side of the firing member. The surgical instrument further includes a second lateral spring support disposed along a second side of the firing member.

Example 93 - Surgical instrument including shaft and end effector. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position, one of the first and second jaws having staples removably stored therein. a staple cartridge containing; The surgical instrument further includes an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further comprises an articulation rod operably connected to the end effector, the articulation rod movable distally to rotate the end effector in the first direction, the articulation rod proximally movable to rotate the end effector. Rotate the effector in a second direction. The surgical instrument further includes a firing bar comprising a plurality of flexible layers, the firing bar movable through the articulation joint during the staple firing stroke. The surgical instrument includes a first flexible support positioned on a first side of the firing bar, a second flexible support positioned on a second side of the firing bar, and a plurality of control elements. and each control element includes an opening defined therein. A firing bar extends through the opening, and the first flexible support, the second flexible support, and the control element are configured to hold the flexible layers together.

Example 94 - The surgical instrument of example 93, wherein the first flexible support and the second flexible support extend through at least some of the control element openings.

Example 95 - A surgical instrument including an end effector including a proximal end and a distal end. The surgical instrument further includes a shaft. The shaft comprises a frame and a locking plate movable relative to the frame, the locking plate comprising a first longitudinal rack of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector, the articulation actuator movable distally to rotate the end effector in a first direction and movable proximally to rotate the end effector in a second direction. Rotate in two directions. The articulation actuator includes a second longitudinal rack of locking teeth. The shaft further includes an articulation lock including a third longitudinal rack of locking teeth. The articulation lock has an unlocked position in which the articulation actuator can move relative to the frame and a third longitudinal rack of lock teeth engages the first longitudinal rack of lock teeth and the second longitudinal rack of lock teeth. and positionable in a locking position that prevents proximal and distal movement of the articulation actuator.

Example 96 - The surgical instrument of example 95, wherein the first longitudinal rack of locking teeth is defined in a first plane and the second longitudinal rack of locking teeth is defined in a second plane . The first plane and the second plane are different.

Example 97 - The surgical instrument of Example 95 or 96, wherein the locking plate is slidable relative to the frame.

[00103] Embodiment 98 - The surgical instrument of embodiment 95, 96, or 97, wherein the frame comprises a recess and the locking plate is disposed within the recess. The recess includes a proximal end wall configured to limit proximal movement of the locking plate within the recess. The recess further comprises a distal end wall configured to limit distal movement of the locking plate within the recess.

[00104] Example 99 - The surgical instrument of Example 98, further comprising a biasing member positioned between the proximal end wall and the locking plate.

[00101] Example 100 - The surgical instrument of Example 98, further comprising a biasing member positioned between the distal end wall and the locking plate.

Example 101 - The end effector comprises a first jaw and a second jaw, the first jaw being movable relative to the second jaw between an open position and a closed position, Example 95 , 96, 97, 98, 99 or 100. The surgical instrument further comprises a closure member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and retain the articulation lock in the locked position.

[00103] Example 102 - The surgical instrument of example 101, wherein the shaft defines a longitudinal axis. The frame includes a flexible portion and the closure member is configured to press the locking plate against the flexible portion and deflect the flexible portion transversely to the longitudinal axis.

[00103] Example 103 - The surgical instrument of Example 102, wherein the flexible portion includes a lateral sidewall and a cavity defined behind the lateral sidewall. The lateral sidewalls are configured to bend into the cavity.

[00104] Example 104 - The surgical application of Example 95, 96, 97, 98, 99, 100, 101, 102, or 103, wherein the articulation lock is biased into engagement with the locking plate and the articulation actuator instrument.

Embodiment 105—The surgical instrument of 95, 96, 97, 98, 99, 100, 101, 102, 103, or 104, wherein the end effector further includes a staple cartridge including staples removably stored therein .

Example 106 - The surgical instrument of Example 105, wherein the staple cartridge is replaceable.

[00101] Example 107 - The surgical instrument of Example 105 or 106, wherein the end effector includes a first jaw and a second jaw. The second jaw is movable relative to the first jaw between an open position and a closed position. The first jaw includes a staple cartridge.

Example 108 - The surgical instrument of example 105 or 106, wherein the end effector includes a first jaw and a second jaw. The second jaw is movable relative to the first jaw between an open position and a closed position. A second jaw includes a staple cartridge.

Example 109 - The first longitudinal rack of locking teeth includes teeth spaced apart at a first pitch, 108. Surgical instrument according to 106, 107 or 108. The second longitudinal rack of locking teeth comprises teeth spaced apart by a second pitch, the second pitch being different than the first pitch. The third longitudinal rack of locking teeth comprises teeth spaced apart by a third pitch, the third pitch being different than the first pitch and the second pitch.

Example 110 - Surgical instrument including end effector and shaft. The end effector has a proximal end and a distal end. The shaft includes a frame including a first longitudinal rack of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector. An articulation actuator is movable distally to rotate the end effector in a first direction and an articulation actuator is movable proximally to rotate the end effector in a second direction. The articulation actuator includes a second longitudinal rack of locking teeth. The shaft further includes an articulation lock including a third longitudinal rack of locking teeth. The articulation lock has an unlocked position in which the articulation actuator can move relative to the frame, and a third longitudinal rack of lock teeth is aligned with the first longitudinal rack of lock teeth of the frame and the first longitudinal rack of lock teeth of the articulation actuator. It is positionable in a locking position that engages the two longitudinal racks and restrains proximal and distal movement of the articulation actuator.

[00113] Embodiment 111 - The surgical instrument of embodiment 110, wherein the frame includes a slidable locking plate, and wherein the first longitudinal rack of locking teeth is defined on the locking plate.

[00113] [00113] Embodiment 112 - The surgical instrument of embodiment 110 or 111, wherein the end effector comprises a staple cartridge including staples removably stored therein.

Example 113 - Surgical instrument including an end effector and a shaft. The shaft includes a frame and an articulation, and the end effector is rotatably connected to the shaft by the articulation. The shaft further includes an articulation actuator operably connected to the end effector. An articulation actuator is movable in a first direction to rotate the end effector in one direction and an articulation actuator is movable in a second direction to rotate the end effector in another direction. The shaft has a first position in which the articulation actuator can move relative to the frame and an articulation lock engages the frame and the articulation actuator to permit movement of the articulation actuator in first and second directions. Further includes an articulation lock positionable in the restricting second position.

[00114] Example 114 - The surgical instrument of Example 113, wherein the end effector comprises a staple cartridge including staples removably stored therein.

Example 115 - Surgical instrument including an end effector head configurable in unclamped and clamped configurations. The surgical instrument further includes a shaft. The shaft includes a frame including a longitudinal axis and an articulation joint, and the end effector head is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector head. An articulation actuator is movable in a first direction to rotate the end effector head in one direction and an articulation actuator is movable in a second direction to rotate the end effector head in another direction. The articulation actuator includes at least one locking projection extending transversely to the longitudinal axis. The shaft further includes an articulation lock including at least two protrusions extending transversely to the longitudinal axis. The articulation lock is configured to flex transversely to the longitudinal axis to permit articulation of the end effector head. The shaft further comprises a closure member configured to move the end effector head from an unclamped configuration to a clamped configuration during the closure stroke, the closure member resisting lateral deflection of the articulation lock after the closure stroke. , thereby inhibiting articulation of the end effector head.

Example 116 - A surgical instrument including an end effector including a proximal end, a distal end, a first jaw, and a second jaw. The second jaw is movable relative to the first jaw between an open position and a closed position. The surgical instrument further comprises a shaft comprising a frame, the frame comprising a first longitudinal rack of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector, the articulation actuator movable distally to rotate the end effector in a first direction and movable proximally to rotate the end effector in a second direction. Rotate in two directions. The articulation actuator includes a second longitudinal rack of locking teeth. The shaft further includes an articulation lock including a third group of locking teeth. The articulation lock includes a disengaged position in which the third group of lock teeth is not engaged with the frame and the articulation actuator, and a disengagement position in which the third group of lock teeth is in a first longitudinal rack of lock teeth and a first longitudinal rack of lock teeth. Positionable in an engaged position that engages the two longitudinal racks to prevent proximal and distal movement of the articulation actuator. The shaft further comprises a closing member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and move the articulation lock from the disengaged position to the engaged position.

[00113] Embodiment 117 - The surgical instrument of embodiment 116, wherein the first longitudinal rack of locking teeth is defined in a first plane. A second longitudinal rack of locking teeth is defined in the second plane. The first plane and the second plane are different.

[00103] Embodiment 118—A surgical instrument according to 116 or 117, wherein the end effector further comprises a staple cartridge containing staples removably stored therein.

Example 119 - The surgical instrument of Example 118, wherein the staple cartridge is replaceable.

[00123] Example 120 - The surgical instrument of Example 118 or 119, wherein the end effector includes a first jaw and a second jaw. The second jaw is movable relative to the first jaw between an open position and a closed position. The first jaw includes a staple cartridge.

Example 121 - The surgical instrument of Example 118 or 119, wherein the end effector includes a first jaw and a second jaw. The second jaw is movable relative to the first jaw between an open position and a closed position. A second jaw includes a staple cartridge.

Example 122—The surgical instrument of example 116, 117, 118, 119, 120, or 121, wherein the first longitudinal rack of locking teeth includes teeth spaced apart at a first pitch. The second longitudinal rack of locking teeth comprises teeth spaced apart by a second pitch, the second pitch being different than the first pitch. The third group of locking teeth comprises teeth spaced apart by a third pitch, the third pitch being different than the first pitch and the second pitch.

[00124] Example 123 - The surgical instrument of example 116, 117, 118, 119, 120, 121 or 122, wherein the shaft defines a longitudinal axis. The articulation lock includes a locking plate laterally slidable with respect to the longitudinal axis between disengaged and engaged positions. The frame includes a proximal guidepost and a distal guidepost. The locking plate includes a proximal transverse slot and a distal transverse slot, with a proximal guide post extending into the proximal transverse slot and a distal guide post extending into the distal transverse slot. The proximal and distal guideposts cooperate to define a lateral path for the locking plate.

Example 124—The surgical instrument of Example 123, wherein the locking plate includes a locking slot including sidewalls defined therein. The closure member includes a lock driver extending into the lock slot. A lock driver is configured to engage the sidewall to move the lock plate from the disengaged position to the engaged position during the closing stroke.

[00123] Embodiment 125 - The surgical instrument of embodiment 124, wherein the closure member is movable through a retraction stroke to move the first jaw to the open position. The lock driver is configured to engage one of the sidewalls of the lock slot during the retraction stroke to move the lock plate from the engaged position to the disengaged position.

[00130] Embodiment 126 - The surgical instrument of embodiment 124, wherein the closure member is movable through an opening stroke to move the first jaw to the open position. The lock driver is configured to engage one of the sidewalls of the lock slot to move the lock plate from the engaged position to the disengaged position during the opening stroke.

Example 127 - The surgical procedure of Example 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, or 126, wherein the articulation lock includes a locking arm deflectable to an engaged position by the closure member equipment.

Example 128 - The surgical application of Example 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, or 126, wherein the joint lock comprises a first locking arm and a second locking arm instrument. The closure member includes a wedge positionable between the first locking arm and the second locking arm during the closing stroke to deflect the articulation lock to the engaged position.

[00129] Example 129 - The surgical instrument of Example 128, wherein the third group of locking teeth are on the first locking arm and the second locking arm.

Embodiment 130 - A first locking arm configured to engage a first longitudinal rack of locking teeth and a second locking arm configured to engage a second longitudinal rack of locking teeth 129. The surgical instrument of embodiment 128 or 129, wherein

Example 131 - Surgical instrument including an end effector including first and second jaws. The second jaw is movable relative to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame and a locking plate movable relative to the frame, the locking plate including a first group of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator configured to rotate the end effector in a first direction and a second direction. The articulation actuator has a second group of locking teeth. The shaft further includes an articulation lock including a third group of locking teeth. The articulation lock includes an disengaged position in which the third group of lock teeth is not engaged with the lock plate, the frame and the articulation actuator, and a disengagement position in which the third group of lock teeth Positionable in an engaged position for engaging the second group to inhibit articulation of the end effector. The shaft further comprises a closing member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and move the articulation lock from the disengaged position to the engaged position.

[00139] Example 132 - The surgical instrument of Example 131, wherein the end effector further comprises a staple cartridge including staples removably stored therein.

Example 133 - Surgical instrument including an end effector including first and second jaws. The second jaw is movable relative to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame including a first group of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator configured to rotate the end effector in a first direction and a second direction. The shaft further includes an articulation lock including a gear including a second set of teeth in meshing engagement with the first set of teeth, the gear being rotatably mounted to the frame. The shaft further comprises a closing member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the gear during the closure stroke to restrain the end effector from articulating.

[00134] Example 134 - The surgical instrument of Example 133, wherein the end effector further comprises a staple cartridge including staples removably stored therein.

Example 135 - Surgical instrument including an end effector including first and second jaws. The second jaw is movable relative to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft comprises a frame and a locking plate movable relative to the frame, the locking plate comprising a first group of coupling features. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator configured to rotate the end effector in a first direction and a second direction. The articulation actuator includes a second group of coupling functions. The shaft further comprises an articulation lock comprising a third group of coupling features, the articulation lock having a disengaged position in which the third group of coupling features does not engage the locking plate and the articulation actuator, and a third group of coupling features. Positionable in an engaged position where the group engages the first group of coupling features and the second group of coupling features to inhibit articulation of the end effector. The shaft further comprises a closing member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and move the articulation lock from the disengaged position to the engaged position.

Example 136 - Surgical instrument including an end effector including first and second jaws. The second jaw is movable relative to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame, a ground-contacting member movable relative to the frame, and an articulation, and the end effector is rotatably connected to the shaft by the articulation. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator configured to rotate the end effector in a first direction and a second direction. The shaft is in a disengaged position in which the articulation lock is not engaged with the ground contact member and the articulation actuator, and an engaged position in which the articulation lock engages the ground contact member and the articulation actuator to restrain articulation of the end effector. A deployable articulation lock is further provided. The shaft further comprises a closing member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and move the articulation lock from the disengaged position to the engaged position.

Example 137 - A surgical instrument insertable through a trocar. The surgical instrument includes a handle and a shaft extending from the handle. The shaft includes a frame, a proximal portion connected to the handle, a distal portion including an end effector, and an articulation joint, the end effector being rotatable about the articulation joint. The shaft further includes an articulation actuator operably coupled to the end effector, the articulation actuator selectively movable to rotate the end effector in the first direction and the second direction. The shaft further includes an outer housing slidable relative to the frame. The outer housing includes a distal non-rounded housing portion adjacent the articulation joint and a longitudinally rounded housing portion extending between the proximal portion and the distal non-rounded housing portion. A longitudinally rounded housing portion includes a first diameter. The distal non-round housing portion includes a second diameter. The first diameter is smaller than the second diameter. The distal non-rounded housing portion and the longitudinally rounded housing portion are sized and configured to be inserted through the trocar and into the surgical site. The shaft further comprises an articulation lock configured to engage the articulation actuator and prevent rotation of the end effector, the articulation lock disposed within the distal non-round housing portion.

[00139] Example 138 - The surgical instrument of Example 137, wherein the end effector comprises a staple cartridge including staples removably stored therein.

[00139] Example 139 - The surgical instrument of Example 138, wherein the end effector further comprises an anvil configured to deform the staple. The anvil is rotatable relative to the staple cartridge.

[00103] Embodiment 140 - The surgical instrument of embodiment 138, wherein the end effector further includes an anvil configured to deform the staples, and wherein the staple cartridge is rotatable relative to the anvil.

Example 141 - The surgical instrument of Example 137, 138, 139 or 140, wherein the staple cartridge is replaceable.

[00139] Example 142 - The surgical instrument of Example 137, 138, 139, 140 or 141, wherein the end effector is replaceable.

[00143] Embodiment 143 - The surgical instrument of embodiment 137, 138, 139, 140, 141 or 142, wherein the longitudinally rounded housing portion defines a longitudinal axis. The distal non-round housing portion is offset and eccentric with respect to the longitudinal axis.

Example 144 - According to example 137, 138, 139, 140, 141, 142 or 143, wherein the proximal portion of the shaft includes a connector including a latch configured to releasably retain the shaft to the handle surgical instruments.

[00144] Embodiment 145 - The surgical instrument of embodiment 137, 138, 139, 140, 141, 142, 143 or 144, wherein the entire joint lock is disposed on the distal non-round housing portion.

Example 146 - The joint lock includes a fixed portion attached to the frame and a locking portion movable within the distal non-round housing portion, Examples 137, 138, 139, 140, 141, 142, 143 , or the surgical instrument according to 144.

[00103] Example 147 - The surgical instrument of Example 146, wherein the joint lock includes a fixed portion attached to the frame and a locking portion movable within the distal non-round housing portion.

Example 148 - A surgical instrument insertable through a trocar. The surgical instrument includes a handle and a shaft extending from the handle. The shaft includes a frame, a proximal portion attachable to the handle, a distal portion including an end effector, and an articulation joint, the end effector rotatable about the articulation joint. The shaft further includes an articulation actuator operably coupled to the end effector, the articulation actuator movable to rotate the end effector in a first direction and a second direction. The shaft further includes an outer housing slidable relative to the frame. The outer housing includes a distal housing portion adjacent the articulation joint, the distal housing portion including a non-round perimeter including a width. The outer housing further includes a longitudinal housing portion extending between the proximal portion and the distal housing portion. The longitudinal housing portion has a substantially round perimeter including a diameter, the diameter being smaller than the width. The distal housing portion and the longitudinal housing portion are sized and configured to be inserted through the trocar and into the surgical site. The shaft further comprises an articulation lock configured to engage the articulation actuator and prevent rotation of the end effector, the articulation lock disposed within the distal housing portion.

[00149] Example 149 - The surgical instrument of Example 148, wherein the end effector comprises a staple cartridge including staples removably stored therein.

Example 150 - The surgical instrument of Example 148 or 149, wherein the staple cartridge is replaceable.

[00101] Example 151 - The surgical instrument of Example 148, 149 or 150, wherein the end effector is replaceable.

[00104] Embodiment 152 - The surgical instrument of embodiment 148, 149, 150 or 151, wherein the joint lock is disposed entirely on the distal housing portion.

[00104] Embodiment 153 - The surgical instrument of embodiment 148, 149, 150 or 151, wherein the joint lock includes a fixed portion attached to the frame and a locking portion movable within the distal housing portion.

[00113] Embodiment 154 - The surgical instrument of embodiment 153, wherein the fixation portion is within the longitudinal housing portion.

Example 155 - Surgical instrument including a handle and a shaft extending from the handle. A removable shaft includes a frame, a proximal latch attachable to the handle, a distal portion including an end effector, and an articulation joint, the end effector rotatable about the articulation joint. The removable shaft further comprises an articulation actuator configured to articulate the end effector in a first direction and a second direction. The removable shaft further comprises an outer tube translatable with respect to the frame. The outer tube includes a distal tube portion adjacent the articulation joint, the distal tube portion including a non-round perimeter including a width. The outer tube further includes a longitudinal tube portion. The longitudinal tube portion has a substantially round perimeter including a diameter, the diameter being smaller than the width. The distal tube portion and longitudinal tube portion are sized and configured to be inserted through the trocar and into the surgical site. The removable shaft further comprises an articulation lock configured to engage the articulation actuator and prevent rotation of the end effector, the articulation lock disposed within the distal tube portion.

Example 156 - Surgical stapling instrument system including a handle, a nozzle, and an elongated shaft. The elongated shaft includes a proximal end, a distal end, a proximal region including a first diameter, a central region including a second diameter, the central region defining a longitudinal axis, and a distal region a third diameter. Including diameter. The first diameter is different than the second diameter and the distal region is laterally offset with respect to the longitudinal axis. The surgical stapling instrument system further comprises an end effector comprising a first jaw. The first jaw includes an elongate channel member and a staple cartridge containing a plurality of staples, the staple cartridge being operably supported within the elongate channel member. The end effector further comprises a second jaw, the second jaw movable relative to the first jaw. A surgical stapling instrument system includes an articulation joint rotatably connecting an end effector to an elongated shaft, a firing member configured to move within the end effector, and configured to impart a firing motion to the firing member. Further includes a launch system.

Example 157 - The surgical stapling instrument system of example 156, wherein the first diameter is greater than the second diameter.

[00103] Embodiment 158 - The surgical stapling instrument system of embodiment 156 or 157, wherein the second diameter is smaller than the third diameter.

[00103] Embodiment 159 - The surgical stapling instrument system of embodiment 156, 157 or 158, wherein the third diameter is less than the first diameter and greater than the second diameter.

[00104] Embodiment 160 - The surgical stapling instrument system of embodiment 156, 157, 158, or 159, wherein the second jaw includes an anvil configured to deform the staple.

[00104] Embodiment 161 - The surgical stapling instrument system of embodiment 156, 157, 158, 159 or 160, wherein the distal region of the elongate shaft includes at least one flat surface.

[00104] Example 162 - The surgical stapling instrument system of Example 156, 157, 158, 159, 160, or 161, wherein the distal region is not fully cylindrical.

Example 163 - Surgical stapling instrument including an elongated shaft. The elongate shaft has a proximal end, a distal end, and a first width at the proximal end, the first width of the elongate shaft transitioning to a second width at the center of the elongate shaft, The second width transitions to a third width at the distal end of the elongated shaft. The distal end of the elongated shaft is non-cylindrical and the distal end comprises an enlargement extending transversely to the second width, the first, second and third widths being different. The surgical stapling instrument further comprises an end effector configured to be attached to the distal end of the elongated shaft. The end effector includes a first jaw and a second jaw, the first jaw being movable relative to the second jaw. The surgical stapling instrument further comprises an articulation assembly configured to apply an articulation motion to the end effector, a firing member, and a firing system configured to apply a firing motion to the firing member.

[00164] Embodiment 164 - The surgical stapling instrument of embodiment 163, wherein the first width is greater than the second width.

[00103] Embodiment 165 - The surgical stapling instrument of embodiment 163 or 164, wherein the second width is less than the third width.

[00104] Embodiment 166 - The surgical stapling instrument of embodiment 163, 164 or 165, wherein the third width is less than the first width and greater than the second width.

[00101] Example 167 - The surgical stapling instrument of Example 163, 164, 165 or 166, wherein the distal end of the elongate shaft is configured for attachment through a 12mm cannula passageway.

[00104] Example 168 - The surgical stapling instrument of Example 163, 164, 165, 166 or 167, wherein the center of the elongate shaft comprises a width of less than 10 mm.

Example 169 - A surgical fastener including an elongated shaft. The elongated shaft includes a proximal end, a distal end, a proximal region including a first circumference, a central region including a second circumference, the central region defining a central longitudinal axis, and a distal region having a third circumference. including the perimeter of The first perimeter is different from the second perimeter and the third perimeter is offset with respect to the second perimeter. The surgical fastening instrument further comprises an end effector configured to be attached to the distal end of the elongated shaft. The end effector includes fastening element cartridge jaws and anvil. The surgical fastener includes an articulation system configured to impart articulation to the end effector, a firing member configured to move through the end effector, a firing and a firing system configured to impart a retractive motion to the firing member.

[00103] Embodiment 170 - The surgical fastener of embodiment 169, wherein the first perimeter is greater than the second perimeter.

[00104] Example 171 - The surgical fastener of Example 169 or 170, wherein the second circumference is less than the third circumference.

[00113] Embodiment 172 - The surgical fastener of embodiment 169, 170 or 171, wherein the third perimeter is less than the first perimeter and greater than the second perimeter.

[00104] Example 173 - The surgical fastener of Example 169, 170, 171 or 172, wherein the proximal region includes a step-down configuration.

[00103] Embodiment 174 - The surgical fastener of embodiment 169, 170, 171, 172, or 173, wherein the distal region of the elongate shaft includes at least one planar surface.

[00104] Example 175 - The surgical fastener of example 169, 170, 171, 172, 173, or 174, wherein the central region includes a step-up region at the distal end.

Example 176 - A surgical instrument including a housing and a shaft extending from the housing including an outer tube portion. The outer tube portion includes a proximal tube portion, the proximal tube portion defining a longitudinal axis, and an elongate intermediate tube portion extending distally from the proximal tube portion, the intermediate tube The portion is centered along the longitudinal axis. The outer tube portion further includes a distal tube portion extending distally from the intermediate tube portion, the distal tube portion laterally offset with respect to the longitudinal axis and the distal tube portion laterally extending from the longitudinal axis. an enlarged portion extending into the portion; The outer tube portion further includes a tapered neckdown defined between the intermediate tube portion and the distal tube portion.

[00109] Example 177 - The surgical instrument of Example 176, further comprising an end effector and an articulation joint rotatably connecting the end effector to the distal tube portion.

[00104] Example 178 - The surgical instrument of Example 177, wherein the end effector comprises a staple cartridge including staples removably stored therein.

Example 179 - A surgical instrument including a housing containing an electric motor. The surgical instrument further includes a shaft extending from the housing, the shaft including a frame and an end effector. The end effector has a first jaw, a second jaw, the first jaw being rotatable relative to the second jaw, and a staple removably stored therein. and an anvil configured to deform the staples. The surgical instrument includes a closure system configured to move the first jaw toward the second jaw during a closure stroke, an articulation joint rotatably connecting the end effector to the shaft, and the end effector. Further includes an articulation system configured to articulate with respect to the shaft and a firing system operatively associated with the electric motor. The firing system is configured to eject staples from the staple cartridge during the staple firing stroke. The surgical instrument further comprises a first rotatable member configured to selectively transmit motion from the firing system to the articulation system and a second rotatable member rotatably mounted to the frame; is in operable association with the articulation system. The closure system is configured to engage the second rotating member during the closure stroke to lock the articulation system in place and prevent articulation of the end effector.

Example 180 - The surgical instrument of Example 179, wherein the closure system includes a closure tube surrounding the frame. The closure system further comprises a wedge configured to engage the second rotating member and lock the second rotating member in place during the closing stroke.

Example 181 - The surgical instrument of Example 179 or 180, wherein the first rotating member is rotatably mounted within the frame.

Example 182 - The surgical instrument of Example 179, 180 or 181, wherein the second rotating member comprises a gear that intermesh with a rack of teeth defined on the articulation system.

[00103] Embodiment 183 - The surgical instrument of embodiment 179, 180, 181 or 182, wherein the first jaw comprises the staple cartridge and the second jaw comprises the anvil.

[00103] Embodiment 184 - The surgical instrument of embodiment 179, 180, 181 or 182, wherein the first jaw comprises an anvil and the second jaw comprises a staple cartridge.

[00103] Embodiment 185 - The surgical instrument of embodiment 179, 180, 181, 182, 183 or 184, wherein the housing includes a handle.

[00104] Example 186 - The surgical system of example 179, 180, 181, 182, 183, 184 or 185, wherein the housing is attachable to the robotic surgical system.

Example 187 - to example 179, 180, 181, 182, 183, 184, 185 or 186, wherein the first rotating member is configured to operably decouple the articulation system from the firing system during the closing stroke A surgical instrument as described.

[00103] Embodiment 188 - The surgical instrument of embodiment 179, 180, 181, 182, 183, 184, 185, 186, or 187, wherein the articulation system is operably decoupled from the firing system during the staple firing stroke.

Example 189 - The closure system is retractable to open the first jaw and unlock the articulation system after the closing stroke, Examples 179, 180, 181, 182, 183, 184, 185, 186, 187 Or the surgical instrument according to 188.

Example 190 - According to example 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, or 189, wherein the second rotating member is rotatable about a post extending from the frame surgical instruments. The post includes a first brake arm and a second brake arm, and the closure system engages the first and second brake arms during the closing stroke to prevent rotation of the second rotating member. configured to

Embodiment 191 - An embodiment wherein the second rotating member includes an annular array of teeth and the closure system is configured to engage the annular array of teeth during the closing stroke to prevent rotation of the second rotating member 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189 or 190.

Embodiment 192—A surgical instrument including a housing including a rotatable input, a shaft extending from the housing, the shaft including a frame, and an end effector. The end effector includes a first jaw and a second jaw, the first jaw being rotatable relative to the second jaw. The surgical instrument includes a closure system configured to close the first jaw during a closure stroke, an articulation joint rotatably connecting the end effector to the shaft, and a joint for articulating the end effector relative to the shaft. and a firing system operably associated with the rotatable input. The firing system is configured to move through the end effector during the firing stroke. The surgical instrument further comprises a first rotatable member configured to selectively synchronize the firing system and the articulation system, and a second rotatable member rotatably mounted to the frame. A second rotating member operably engages the articulation system, a closure system engages the second rotating member during the closing stroke to lock the articulation system in place, and articulate the end effector. configured to prevent movement;

[00103] Embodiment 193 - The surgical instrument of embodiment 192, further comprising a staple cartridge including staples removably stored therein.

Embodiment 194—A surgical instrument including a housing including a rotatable input, a shaft extending from the housing, the shaft including a frame, and an end effector. The end effector includes a first jaw and a second jaw, the first jaw being rotatable relative to the second jaw. The surgical instrument includes a closure system configured to close the first jaw during a closure stroke, an articulation joint rotatably connecting the end effector to the shaft, and a joint for articulating the end effector relative to the shaft. and a firing system operably associated with the rotatable input. The firing system is configured to move through the end effector during the firing stroke. The surgical instrument further includes a first rotatable member configured to selectively synchronize motion of the firing system with motion of the articulation system, and a second rotatable member operably engageable with the articulation system. Prepare. The closure system is configured to stop rotation of the second rotating member during the closure stroke to lock the articulation system in place and prevent articulation of the end effector.

[00103] Embodiment 195 - The surgical instrument of embodiment 194, further comprising a staple cartridge including staples removably stored therein.

Embodiment 196 - A cartridge body including a proximal end, a distal end, a blunt nose at the distal end, and a plurality of staple cavities defined within the cartridge body, wherein the plurality of staple cavities are proximal configured to support at least one of a plurality of staple cavities extending longitudinally from the proximal end to the distal end; a plurality of staples removably stored within the plurality of staple cavities; A staple cartridge assembly comprising a driver and a sled movable toward a distal end during a firing stroke. The sled includes a first ramp and a second ramp, the first ramp laterally offset from the second ramp. The first ramp and the second ramp were configured to lift the driver and the blunt nose of the cartridge body was configured to receive the first ramp of the sled after completion of the firing stroke. a first recess formed in the distal end and a second recess formed in the distal end configured to receive a second ramp of the sled after the firing stroke is completed; include.

[00109] Example 197 - The staple cartridge assembly of Example 196, wherein the first ramp and the second ramp are exposed at the distal end upon completion of the firing stroke.

Example 198 - A driver supports a first driver portion configured to support a first staple, a second driver portion configured to support a second staple, and a third staple 198. The staple cartridge assembly of embodiment 196 or 197, comprising a third driver portion configured to.

Example 199—The staple cartridge assembly of example 198, wherein the driver further includes a central base member connecting the first driver portion, the second driver portion, and the third driver portion.

[00103] Example 200 - According to example 199, wherein the first driver portion includes a first forward strut including a proximal end and the second driver portion includes a second forward strut including a distal end Staple cartridge assembly. A central base member extends longitudinally between the proximal end of the first front strut and the distal end of the second front strut.

[00103] Embodiment 201 - The staple cartridge assembly of embodiment 196, 197, 198, 199, or 200, wherein the central base member includes a rearwardly sloping wall configured to be engaged by the sled.

[00101] Example 202 - The staple cartridge assembly of Example 196, 197, 198, 199, 200 or 201, wherein the sled is configured to drive the driver toward an anvil located on an opposite side of the staple cartridge assembly.

Example 203 - A staple cartridge assembly including a cartridge body including a proximal end, a distal end, a shortened nose at the distal end, and a row of staples removably stored in the cartridge body. A row of staples extends longitudinally from the proximal end to the distal end. The row of staples includes a distal-most staple and a proximal-most staple. The staple cartridge assembly further includes drivers, each driver configured to support at least one of the staples, and a sled movable toward the distal end. The sled includes ramps configured to lift the driver and staples toward an anvil located on the opposite side of the staple cartridge assembly during the firing stroke. The sled further includes a base, a shortened nose length extending from the distal-most staple to the distal end, the shortened nose length being shorter than the base of the sled.

[00124] Example 204 - The staple cartridge assembly of Example 203, further comprising an anvil, the anvil comprising a protective tip at the distal end.

[00103] 205 - The staple cartridge assembly of embodiments 203 or 304, further comprising an anvil, wherein the distal end of the shortened nose extends beyond the distal end of the anvil.

[00104] 206 - The staple cartridge assembly of embodiment 203, 204, or 205, wherein the angled portion of the sled is exposed at the distal end upon completion of the firing stroke.

Example 207 - End effector for a surgical stapling instrument. The end effector includes a staple cartridge assembly. The staple cartridge assembly supports a cartridge body including a proximal end, a distal end, a shortened nose at the distal end, staples removably stored in the cartridge body, and at least one staple. It includes a configured driver and a sled movable toward the distal end. The sled includes a driver and a ramp configured to lift the at least one staple. The sled also has a base, and the shortened nose of the cartridge body is shorter than the base of the sled. The end effector further includes an anvil. The anvil includes a staple forming surface including a plurality of staple forming pockets. The anvil further includes a blunt distal nose extending downward toward the staple cartridge assembly.

[00104] Example 208 - The end effector of example 207, wherein the blunt distal nose is removably attached to the anvil.

[00104] Example 209 - The end effector of Example 207 or 208, wherein the anvil further includes a frame including attachment features configured to facilitate attachment of the blunt distal nose to the frame.

[00103] 210 - The end effector of embodiment 207, 208, or 209, wherein the anvil includes a distal end and the distal end of the staple cartridge assembly extends beyond the distal end of the anvil.

Example 211—Comprising a cartridge body, a proximal end, a distal end, a slot configured to receive a cutting member, and a first row of staples removably stored in the cartridge body, The staple cartridge assembly, wherein the first row of staples extends between the proximal and distal ends along the first side of the slot. The staple cartridge assembly further comprises a second row of staples removably stored in the cartridge body, the second row of staples extending along the first row of staples on the first side of the slot. extending between the proximal and distal ends. The staple cartridge assembly further comprises a third row of staples removably stored in the cartridge body, the third row of staples along the second row of staples on the first side of the slot. extending between the proximal and distal ends. The staple cartridge assembly includes a driver configured to support a first staple from the first staple row, a second staple from the second staple row, and a third staple from the third staple row. and wherein the second staple is closer to the proximal end than the first and third staples.

[00104] Example 212 - The staple cartridge assembly of example 211, wherein the first staple, the second staple, and the third staple form an inverted arrow configuration.

[00103] Embodiment 213—The staple cartridge assembly of embodiment 211 or 212, further comprising a sled configured to lift the driver toward an anvil disposed on an opposite side of the staple cartridge assembly.

[00103] Example 214 - The staple cartridge assembly of example 211, 212, or 213, further comprising an anvil, the anvil comprising a distal end.

[00104] Example 215 - The staple cartridge assembly of example 214, wherein the distal end of the staple cartridge extends distally relative to the distal end of the anvil.

Example 216—A staple cartridge system including an end effector configurable in unclamped and clamped configurations. The end effector includes an anvil jaw and a cartridge jaw. The cartridge jaws are configured to receive a staple cartridge. The cartridge jaw includes a cartridge support reference surface. The staple cartridge system further comprises a first staple cartridge. A first staple cartridge includes a first deck configured to support tissue of a patient, a first staple cavity defined in the first deck, and removably stored in the first staple cavity. and a first proximal end. When the first staple cartridge is placed in the cartridge jaws, the first proximal end is aligned with the reference surface of the cartridge jaws. The first staple cartridge further comprises a first distal end and a first cartridge length defined between the first proximal end and the first distal end. The staple cartridge system further comprises a second staple cartridge. A second staple cartridge includes a second deck configured to support tissue of a patient, a second staple cavity defined in the second deck, and removably stored in the second staple cavity. and a second proximal end. When the second staple cartridge is placed in the cartridge jaws, the second proximal end is aligned with the reference surface of the cartridge jaws. The second staple cartridge further comprises a second distal end, a second cartridge length defined between the second proximal end and the second distal end, and the end effector in a clamped configuration. and the anvil is supported by a first position on the first staple cartridge when the first staple cartridge is positioned in the cartridge jaws. The anvil is supported by a second position on the second staple cartridge when the end effector is in the clamped configuration and the second staple cartridge is positioned in the cartridge jaws. The first position is a first orthogonal distance from the cartridge support reference surface when the first staple cartridge is positioned in the cartridge jaws, and the second position is the second staple cartridge positioned in the cartridge jaws. is the second orthogonal distance from the cartridge support reference plane when the The first orthogonal distance is different than the second orthogonal distance. The anvil jaws flex differently depending on whether the first staple cartridge or the second staple cartridge is positioned within the cartridge jaws.

[00104] Example 217 - The staple cartridge system of example 216, wherein the second cartridge length is different than the first cartridge length.

[00130] Example 218 - The staple cartridge system of Example 216 or 217, wherein the second cartridge length is shorter than the first cartridge length.

[00123] Example 219 - The staple cartridge system of example 216, 217, or 218, wherein the second orthogonal distance is less than the first orthogonal distance.

[00123] Example 220 - The staple cartridge system of example 216, 217, or 218, wherein the second orthogonal distance is greater than the first orthogonal distance.

[00104] Embodiment 221 - The staple cartridge system of embodiment 216, 217, 219, or 220, wherein the second cartridge length is longer than the first cartridge length.

[00123] Example 222 - The staple cartridge system of example 216, 217, 218, or 221, wherein the second orthogonal distance is less than the first orthogonal distance.

[00104] Example 223 - The staple cartridge system of example 216, 217, 218, or 221, wherein the second orthogonal distance is greater than the first orthogonal distance.

Example 224 - Example 216, 217, 218, 219, 220, 221, 222 wherein the second location is closer to the second distal end than the first location is to the first distal end, or 223. The staple cartridge system of 223.

Example 225 - The second location is farther from the second distal end than the first location from the first distal end, Examples 216, 217, 218, 219, 220, 221, 223. The staple cartridge system of 222 or 223.

[00104] Example 226 - The staple cartridge system of example 216, 217, 218, 219, 220, 221, 222, 223, 224, or 225, wherein the anvil jaw comprises a distal anvil tip. A first cartridge length is set such that the distal anvil tip extends beyond the first distal end and a second cartridge length is set such that the distal anvil tip does not extend beyond the second distal end. set.

Embodiment 227 - The anvil jaw undergoes a first deflection when the end effector is in a clamped configuration and the first staple cartridge is positioned in the cartridge jaw, embodiments 216, 217, 218, 219, 220, 221, 222, 223, 224, 225 or 226. The anvil jaw undergoes a second deflection when the end effector is in the clamped configuration and the second staple cartridge is positioned in the cartridge jaw. The second deflection is greater than the first deflection.

Example 228 - Each first staple has an unformed height in a first unformed height range and each second staple has an unformed height in a second unformed height range a height, wherein the second unformed height range includes a height greater than the height of the first unformed height range, e.g. 227. The staple cartridge system of 223, 224, 225, 226 or 227.

Example 229 - Each first staple has an unformed height in a first unformed height range and each second staple has an unformed height in a second unformed height range a height, wherein the second unformed height range includes a height less than the height of the first unformed height range, e.g. 227. The staple cartridge system of 223, 224, 225, 226 or 227.

Example 230 - Each first staple has an unformed height in a first unformed height range and each second staple has an unformed height in a second unformed height range and the second unformed height range is different than the first unformed height range but partially overlaps the first unformed height range, examples 216, 217 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228 or 229.

Embodiment 231 - The anvil jaw comprises a distal anvil tip, the first cartridge length is set such that the distal anvil tip extends beyond the first distal end, and the second cartridge length is the distal end. Embodiment 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229 or 230, wherein the anvil tip is set to be shorter than the second distal end The staple cartridge system as described in .

Example 232 - The anvil jaws are rotatable relative to the cartridge jaws Example 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230 or 231 The staple cartridge system as described in .

Example 233 - The cartridge jaws are rotatable with respect to the anvil jaws Example 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230 or 231 The staple cartridge system as described in .

Example 234 - First Distal End Includes First Cartridge Nose and Second Distal End Includes Second Cartridge Nose, Examples 216, 217, 218, 219, 220, 221, 222 , 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, or 233. The second cartridge nose is more blunt than the first cartridge nose.

Example 235 - First Distal End Includes First Cartridge Nose and Second Distal End Includes Second Cartridge Nose, Examples 216, 217, 218, 219, 220, 221, 222 , 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233 or 234. The second cartridge nose is shorter than the first cartridge nose.

The entire disclosure of the following is incorporated herein by reference.
- U.S. Patent No. 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", issued Apr. 4, 1995;
- U.S. Patent No. 7,000,818, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRRING SYSTEMS", issued February 21, 2006;
- U.S. Patent No. 7,422,139, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK", issued September 9, 2008;
- U.S. Patent No. 7,464,849, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENTS WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", issued Dec. 16, 2008;
- U.S. Patent No. 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", issued March 2, 2010;
- U.S. Patent No. 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS", issued July 13, 2010;
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Although various devices have been described herein in conjunction with specific embodiments, modifications and changes may be made to those embodiments. Certain features, structures or characteristics may be combined in any suitable manner in one or more embodiments. Thus, any particular feature, structure, or characteristic illustrated or described with respect to one embodiment may be combined, without limitation, in whole or in part, with the features, structures, or characteristics of one or more other embodiments. good. Also, although materials are disclosed for particular components, other materials may be used. Further, according to various embodiments, single components may be replaced with multiple components, and multiple components may be replaced with a single component to perform a given function(s). may be replaced. The foregoing description and the following claims are intended to cover all such modifications and variations.

The devices disclosed herein can be designed to be discarded after a single use, or can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of disassembly of the device, followed by cleaning or replacement of particular parts of the device, and subsequent reassembly of the device. Specifically, the reconditioning facility and/or surgical team can disassemble the device, clean and/or replace certain parts of the device, and then reassemble the device for subsequent use. can be done. Those skilled in the art will appreciate that reconditioning of the device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

The devices disclosed herein can be processed pre-operatively. First, a new or used instrument may be obtained and cleaned as necessary. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic bag or TYVEK bag. The container and instrument can then be placed in a radiation field that can penetrate the container, such as gamma rays, X-rays, and/or high-energy electrons. Radiation can kill bacteria on the device and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. The device may also be sterilized using any other technique known in the art including, but not limited to, beta radiation, gamma radiation, ethylene oxide, hydrogen peroxide plasma, and/or water vapor.

While this invention has been described as having an exemplary design, the present invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

All patents, publications, or other disclosures that are incorporated herein by reference in whole or in part are subject to any existing definitions, statements, or other disclosures in which the incorporated material is set forth in this disclosure. It is incorporated herein only to the extent not inconsistent with its content. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting statements incorporated herein by reference. This document is hereby incorporated by reference, but any document, or portion thereof, that contradicts any existing definition, statement, or other disclosure document set forth herein shall be deemed to be a It shall be incorporated only to the extent that it is not inconsistent with the disclosure.

[Mode of implementation]
(1) A surgical instrument comprising:
an end effector,
a cartridge jaw;
an anvil jaw, wherein one of the cartridge jaw and the anvil jaw is rotatable relative to the other about a closing axis; and
being a shaft,
a frame defining a longitudinal shaft axis;
A closure actuator translatable relative to the frame, the closure actuator comprising a proximal portion, a distal portion and a link, said link about a proximal link axis to said proximal portion; and a closure actuator rotatably connected to said distal portion about a distal link axis, said proximal link axis and said distal link axis defining a longitudinal link axis therebetween. , shaft and
an articulation joint, wherein the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint, the end effector having a non-articulated position and an articulated position; wherein the articulation axis is offset from the longitudinal shaft axis, and when the end effector is in either the non-articulated position or the articulated position, the articulation plane between A surgical instrument comprising: an articulation joint, wherein a longitudinal link axis is not collinear with said longitudinal shaft axis.
(2) The surgical instrument of claim 1, wherein the proximal link axis is arranged along the longitudinal shaft axis.
(3) The surgical instrument of claim 1, wherein the cartridge jaws comprise a staple cartridge containing staples removably stored therein.
(4) The surgical instrument of Clause 3, wherein the staple cartridge is replaceable.
Clause 5. The surgical instrument of Clause 3, further comprising a different firing actuator separate from the closure actuator, the firing actuator operable to eject the staples from the staple cartridge.

Clause 6. The surgical instrument of clause 1, wherein the longitudinal link axis is non-parallel to the longitudinal shaft axis when the end effector is in either the non-articulated position or the articulated position. .
(7) said end effector having a longitudinal end effector axis, said longitudinal end effector axis being collinear with said longitudinal shaft axis when said end effector is in said non-articulated position; An effector includes a distal end disposed along the longitudinal end effector axis, and the distal link axis extends along the distal end when the end effector is in one of the non-articulated position and the articulated position. 2. The surgical instrument of claim 1, offset with respect to an axis extending between a proximal end and the proximal link axis.
(8) A surgical instrument comprising:
an end effector,
a longitudinal end effector axis;
a distal end positioned along the end effector axis;
a cartridge jaw;
an anvil jaw, wherein one of the cartridge jaw and the anvil jaw is rotatable relative to the other about a closing axis; and
being a shaft,
a frame defining a longitudinal shaft axis;
A closure actuator translatable relative to the frame, the closure actuator comprising a proximal portion, a distal portion and a link, said link about a proximal link axis to said proximal portion; and a closure actuator rotatably connected to said distal portion about a distal link axis;
an articulation joint, wherein the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint, the end effector having a non-articulated position and an articulated position; wherein the articulation axis is offset from the longitudinal shaft axis and the longitudinal end effector axis is articulatable in an articulation plane between the Aligned with a longitudinal shaft axis, the distal link axis is aligned with the distal end of the end effector and the proximal link axis when the end effector is in one of the unarticulated position and the articulated position. A surgical instrument comprising an articulation joint offset with respect to an axis extending between and.
(9) said proximal link axis and said distal link axis define a longitudinal link axis, said longitudinal link axis when said end effector is in either said non-articulated position and said articulated position; 9. The surgical instrument of embodiment 8, wherein is not collinear with the longitudinal shaft axis.
Clause 10. The surgical instrument of clause 9, wherein the longitudinal link axis is non-parallel to the longitudinal shaft axis when the end effector is in one of the non-articulated position and the articulated position.

(11) The surgical instrument of claim 8, wherein the proximal link axis is arranged along the longitudinal shaft axis.
Clause 12. The surgical instrument of clause 8, wherein the cartridge jaws comprise a staple cartridge containing staples removably stored therein.
(13) The surgical instrument of Clause 12, wherein the staple cartridge is replaceable.
Clause 14. The surgical instrument of clause 12, further comprising a different firing actuator separate from the closure actuator, the firing actuator operable to eject the staples from the staple cartridge.
(15) A surgical instrument comprising:
an end effector,
a longitudinal end effector axis;
a distal end positioned along the end effector axis;
a first jaw;
a second jaw, wherein one of said first jaw and said second jaw is rotatable relative to the other between an open position and a closed position;
an end effector comprising
being a shaft,
a frame defining a longitudinal shaft axis;
A closure actuator translatable relative to the frame, the closure actuator comprising a proximal portion, a distal portion and a link, said link about a proximal link axis to said proximal portion; and a closure actuator rotatably connected to said distal portion about a distal link axis;
an articulation joint, wherein the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint, the end effector having a non-articulated position and an articulated position; wherein the articulation axis is transversely disposed relative to the longitudinal shaft axis and the longitudinal end effector axis is articulatable when the end effector is in the non-articulated position; Aligned with the longitudinal shaft axis, the distal link axis is aligned with the end when the first jaw is in the open position, the closed position, and any position between the open and closed positions. an articulation joint positioned transversely to an axis extending between the distal end of the effector and the proximal link axis.

(16) said proximal link axis and said distal link axis define a longitudinal link axis, and whether said end effector is in said non-articulated position or said articulated position; 16. The surgical instrument of embodiment 15, wherein the longitudinal link axis is not aligned with the longitudinal shaft axis when one jaw is in the closed position.
(17) said longitudinal link axis is said longitudinal shaft when said first jaw is in said closed position, whether said end effector is in said non-articulated position or said articulated position; 16. A surgical instrument according to embodiment 15, non-parallel to the axis.
Clause 18. The surgical instrument of Clause 15, wherein the proximal link axis is arranged along the longitudinal shaft axis.
(19) The surgical instrument of Clause 15, wherein the first jaw comprises a staple cartridge including staples removably stored therein.
(20) The surgical instrument of Clause 19, wherein the staple cartridge is replaceable.

Clause 21. The surgical instrument of Clause 19, further comprising a different firing actuator separate from the closure actuator, the firing actuator being operable to eject the staples from the staple cartridge.

Claims (21)

A surgical instrument,
an end effector,
a cartridge jaw;
an anvil jaw, wherein one of the cartridge jaw and the anvil jaw is rotatable relative to the other about a closing axis; and
being a shaft,
a frame defining a central longitudinal axis ;
A closure actuator translatable relative to the frame, the closure actuator comprising a proximal portion, a distal portion and a link, said link about a proximal link axis to said proximal portion; and a distal link axis rotatably connected to the distal portion, a longitudinal link axis perpendicular to the proximal link axis and the distal link axis and extending through the proximal link axis and the distal link axis; a shaft extending through the link axis and comprising a closing actuator;
an articulation joint, wherein the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint, the end effector having a non-articulated position and an articulated position; wherein the articulation axis is offset from the central longitudinal axis , and when the end effector is in either the non-articulated position or the articulated position; A surgical instrument comprising: an articulation joint, wherein a longitudinal link axis is not collinear with said central longitudinal axis . The surgical instrument of claim 1, wherein the proximal link axis is arranged along the central longitudinal axis . The surgical instrument of claim 1, wherein the cartridge jaws comprise a staple cartridge containing staples removably stored therein. The surgical instrument of Claim 3, wherein the staple cartridge is replaceable. The surgical instrument of claim 3, further comprising a different firing actuator separate from the closure actuator, the firing actuator operable to eject the staples from the staple cartridge. wherein the anvil jaw is rotatable relative to the cartridge jaw between an open position and a closed position, the anvil jaw of the end effector being in the open position relative to the cartridge jaw, the end effector comprising: The surgical instrument of claim 1, wherein the longitudinal link axis is non-parallel to the central longitudinal axis when in the non-articulated position . The end effector has a longitudinal end effector axis, and when the end effector is in the non-articulated position, the longitudinal end effector axis is collinear with the central longitudinal axis , and the end effector is aligned with the a distal end disposed along a longitudinal end effector axis, wherein the distal link axis is aligned with the distal end when the end effector is in one of the non-articulated position and the articulated position; The surgical instrument of claim 1, offset with respect to an axis extending between the proximal link axis. A surgical instrument,
an end effector,
a longitudinal end effector axis;
a distal end disposed along the longitudinal end effector axis;
a cartridge jaw;
an anvil jaw, wherein one of the cartridge jaw and the anvil jaw is rotatable relative to the other about a closing axis; and
being a shaft,
a frame defining a central longitudinal axis ;
A closure actuator translatable relative to the frame, the closure actuator comprising a proximal portion, a distal portion and a link, said link about a proximal link axis to said proximal portion; and a closure actuator rotatably connected to said distal portion about a distal link axis;
an articulation joint, wherein the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint, the end effector having a non-articulated position and an articulated position; wherein the articulation axis is offset from the central longitudinal axis and the longitudinal end effector axis is articulatable in an articulation plane between the Aligned with a central longitudinal axis , the distal link axis is aligned with the distal end of the end effector and the proximal link axis when the end effector is in one of the unarticulated position and the articulated position. A surgical instrument comprising an articulation joint offset with respect to an axis extending between and. A longitudinal link axis extends through the proximal link axis and the distal link axis perpendicular to the proximal link axis and the distal link axis, and the end effector is positioned in the non-articulated position. and the articulated position, the longitudinal link axis is non-collinear with the central longitudinal axis . said anvil jaw of said end effector being rotatable relative to said cartridge jaw between an open position and a closed position; said anvil jaw of said end effector being in said open position relative to said cartridge jaw; The surgical instrument of claim 9, wherein the longitudinal link axis is non-parallel to the central longitudinal axis when the end effector is in the non-articulated position. The surgical instrument of claim 8, wherein the proximal link axis is arranged along the central longitudinal axis . The surgical instrument of claim 8, wherein the cartridge jaws comprise a staple cartridge containing staples removably stored therein. The surgical instrument of Claim 12, wherein the staple cartridge is replaceable. The surgical instrument of claim 12, further comprising a different firing actuator separate from the closure actuator, the firing actuator operable to eject the staples from the staple cartridge. A surgical instrument,
an end effector,
a longitudinal end effector axis;
a distal end disposed along the longitudinal end effector axis;
a first jaw;
a second jaw, wherein one of said first jaw and said second jaw is rotatable relative to the other between an open position and a closed position;
an end effector comprising
being a shaft,
a frame defining a central longitudinal axis ;
A closure actuator translatable relative to the frame, the closure actuator comprising a proximal portion, a distal portion and a link, said link about a proximal link axis to said proximal portion; and a closure actuator rotatably connected to said distal portion about a distal link axis;
an articulation joint, wherein the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint, the end effector having a non-articulated position and an articulated position; wherein the articulation axis is transversely disposed relative to the central longitudinal axis , and the longitudinal end effector axis is articulatable when the end effector is in the non-articulated position; Aligned with a central longitudinal axis , the distal link axis extends toward the end when the first jaw is in the open position, the closed position, and any position between the open and closed positions. an articulation joint positioned transversely to an axis extending between the distal end of the effector and the proximal link axis. A longitudinal link axis extends through the proximal link axis and the distal link axis perpendicular to the proximal link axis and the distal link axis, and the end effector is positioned in the non-articulated position. 16. The longitudinal link axis of claim 15, wherein the longitudinal link axis is not aligned with the central longitudinal axis when the first jaw is in the closed position, whether in the articulated position or in the articulated position. surgical instruments. A longitudinal link axis extends through the proximal link axis and the distal link axis perpendicular to the proximal link axis and the distal link axis and the first jaw of the end effector. is in the open position with respect to the second jaw and the longitudinal link axis is non-parallel to the central longitudinal axis when the end effector is in the non-articulated position. equipment. The surgical instrument of claim 15, wherein the proximal link axis is arranged along the central longitudinal axis . The surgical instrument of claim 15, wherein the first jaw comprises a staple cartridge containing staples removably stored therein. The surgical instrument of Claim 19, wherein the staple cartridge is replaceable. The surgical instrument of claim 19, further comprising a different firing actuator separate from the closure actuator, the firing actuator operable to eject the staples from the staple cartridge.

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